arXiv: cs.AI preprintsInternational6 November 2026
GraspBench: Execution-Aware Cross-Robot Evaluation of 6-DoF Grasp Generation in MuJoCo
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arXiv:2611.07651v1 Announce Type: cross Abstract: Modern 6-DoF grasp generators are often evaluated using grasp scores, dataset-level metrics, or single-robot demonstrations, yet proposal quality alone does not determine whether a grasp is executable by a particular robot. We present GraspBench, a controlled MuJoCo protocol for evaluating complete grasp-generation pipelines after robot-specific inverse-kinematics filtering, motion planning, and fixed approach-close-lift execution. GraspBench evaluates six configured pipelines across four robot embodiments, five diagnostic objects, and a struct
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