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weizww/hispark-modelzoo-graspnet

sourceHugging Faceupdated 4mo agoView on Hugging Face
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Model Card

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 / 源模型下载; 源模型 / 源模型元数据)

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