ResearchBenchmarksHuman Grasp Generation on HO3D objectFollow1.38Penetration Depth (cm)S2HGrasp1.35081.54791.7451.9421Apr 24, 2024Evaluation ResultsMethodMethodLinksPenetration Depth (cm)Penetration Volume (cm³)Grasp Displacement Mean (cm)Grasp Displacement Variance (cm)Perceptual ScoreContact RatioDiversity Axis (scaled by 10⁻²)Diversity Angle (scaled by 10⁻²)S2HGrasp2024.041.384.873.33.732.8999.060.791.95GraspCVAE2024.042.118.663.613.932.1197.620.51.32