ResearchBenchmarksHuman Grasp Generation on View-S2HGDFollow0.21Penetration Depth (cm)S2HGrasp0.20760.22380.240.2562Apr 24, 2024Evaluation ResultsMethodMethodLinksPenetration Depth (cm)Penetration Volume (cm³)Grasp Displace Mean (cm)Grasp Displace Variance (cm)Perceptual ScoreContact RatioDiversity AxisDiversity AngleS2HGrasp2024.040.216.582.733.163.2599.41103451GraspCVAE2024.040.2313.543.13.492.698.0785329GT2024.040.276.62.012.734.54100215886