Grasp Synthesis on GRAB (in-domain)
3.06Penetration VolumeAffordGrasp
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| AffordGrasp2026.03 | 3.06 | 1.66 | 94 | 2.91 | 3.53 | 62.5 | |
| FastGrasp2026.03 | 4.61 | 1.2 | 94 | 2.76 | 1.96 | 61.5 | |
| TTA2026.03 | 6.51 | 1.22 | 91 | 2.73 | 1.41 | 55 | |
| AffordGrasp (ControlNet)Architecture=DAM module replaced by ControlNet [38] structure2026.03 | 6.78 | 1.57 | 93 | 2.76 | 3.47 | 60.5 | |
| D-VQVAE2026.03 | 8.04 | 1.82 | 89 | 2.88 | 3.41 | 57.5 |