shadow-cann/hispark-modelzoo-graspnet

GraspNet

GraspNet是一种基于点云输入的多阶段抓取姿态预测模型，由抓取视角估计和抓取姿态生成两个阶段组成，通过特征提取、视角估计、局部特征提取、抓取参数估计和预测解码一系列处理，最终生成包含抓取评分、抓取宽度、抓取高度、抓取深度、旋转矩阵、抓取中心点和物体ID的预测结果，旨在解决机器人抓取任务中的6D抓取姿态估计问题。

Mirror Metadata

• —Hugging Face repo: shadow-cann/hispark-modelzoo-graspnet
• —Portal model id: iodtp8ht0400
• —Created at: 2026-02-09 19:42:15
• —Updated at: 2026-02-12 11:24:22
• —Category: 计算机视觉

Framework

• —PyTorch

Supported OS

• —OpenEuler

Computing Power

• —Hi3591PV100

Tags

• —具身智能

Detail Parameters

• —计算量: 71.121GFLOPs
• —输入: 720x1280
• —参数量: 2.397M

Files In This Repo

• —graspnet[该模型文件仅用于非商用].onnx (源模型 / 源模型元数据)
• —graspnetlinuxaarch64[该模型文件仅用于非商用].om (编译模型 / OM 元数据 / FP16)

Upstream Links

• —Portal card: https://gitbubble.github.io/hisilicon-developer-portal-mirror/model-detail.html?id=iodtp8ht0400
• —Upstream repository: https://gitee.com/HiSpark/modelzoo/blob/master/samples/built-in/embodied_intelligence/GraspNet/README.md
• —License reference: https://github.com/graspnet/graspnet-baseline/blob/main/LICENSE

Notes

• —This repository was mirrored from the HiSilicon Developer Portal model card and local downloads captured on 2026-03-27.
• —File ownership follows the portal card mapping, not just filename similarity.
• —Cover image: 1726646426140674graspnet16_9.jpg