ResearchBenchmarksHuman Grasp Generation on Object-S2HGDFollow0.21Penetration Depth (cm)S2HGrasp0.2080.22150.2350.2485Apr 24, 2024Evaluation ResultsMethodMethodLinksPenetration Depth (cm)Penetration Volume (cm³)Grasp Displacement Mean (cm)Grasp Displacement Variance (cm)Perceptual ScoreContact Ratio (%)Diversity Axis (10⁻²)Diversity Angle (10⁻²)S2HGrasp2024.040.215.583.263.383.1498.670.712.75GraspCVAE2024.040.2514.483.693.942.5497.870.522.04GT2024.040.267.222.182.694.521002.299.68