ResearchBenchmarksGrasp Generation on MultiGripperGrasp AllegroGrasp Generation on MultiGripperGrasp AllegroFollow87.59SREAGG20.135637.647855.1672.6722Jun 16, 2026Evaluation resultsMethodMethodLinksSRCD (cm)PD (cm)CCRGREAGGVersion=SpecializedVersion=Specialized2026.0687.590.410.912.6850EAGGVersion=UnifiedVersion=Unified2026.0686.460.51.042.56412DDStage=2stageStage=2stage2026.06510.440.64.12514DDInput=bps+EGDInput=bps+EGD2026.0650.940.440.64.12914DDInput=pn2Input=pn22026.0650.740.430.594.09210DDInput=bpsInput=bps2026.0626.740.450.582.4964UDG2026.0622.730.510.61.9220