Dexterous Grasp Synthesis on 30 objects
75Success Rate (SR(1))DDIM†
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| DDIM†Arm=N/A (Floating gripper)2026.06 | 75 | — | 0.01 | 16,000 | |
| Ours (IPOPT)Arm=Franka Arm2026.06 | 71 | 99.8 | 0.06 | 15,700 | |
| Ours (IPOPT)Arm=Dynaarm2026.06 | 69.8 | 96.4 | 0.2 | 15,200 | |
| Ours (Theseus)Arm=Dynaarm2026.06 | 63.5 | 95.8 | 0.26 | 14,500 | |
| Ours (Theseus)Arm=Franka Arm2026.06 | 61 | 98.3 | 0.23 | 14,100 | |
| Gradient GuidanceArm=Dynaarm2026.06 | 58.8 | 99.3 | 0.97 | 12,800 | |
| Gradient GuidanceArm=Franka Arm2026.06 | 50.9 | 97.9 | 1.04 | 11,100 | |
| Projection GuidanceArm=Franka Arm2026.06 | 37.4 | 100 | 1.19 | 8,100 | |
| DDIMArm=Franka Arm2026.06 | 33.7 | 83.7 | 2.02 | 7,100 | |
| DDIMArm=Dynaarm2026.06 | 27 | 54.6 | 2.37 | 6,500 | |
| Projection GuidanceArm=Dynaarm2026.06 | 23.7 | 99.9 | 0.72 | 6,800 |