ResearchBenchmarksGrasp Generation on MultiGripperGrasp Robotiq 3FGrasp Generation on MultiGripperGrasp Robotiq 3FFollow79.26Success Rate (SR)EAGG28.029641.329854.6367.9302Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Contact Distance (CD) (cm)Penetration Distance (PD) (cm)Contact Count (CC)Relative Grasp Robustness (RGR)EAGGVersion=SpecializedVersion=Specialized2026.0679.260.781.072.6150.18EAGGVersion=UnifiedVersion=Unified2026.0678.421.141.482.5121.2DDInput=bps+EGDInput=bps+EGD2026.0660.720.370.562.8880.3DDStage=2stageStage=2stage2026.0660.550.370.562.8810.3DDInput=pn2Input=pn22026.0657.540.350.532.7010.3DDInput=bpsInput=bps2026.0635.720.450.621.9660.8UDG2026.06300.440.581.7690