Task-Oriented Dexterous Grasp Generation on DexGYSNet (Standard Train-Test)
67.05Success RateNDPP-Grasp
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| NDPP-GraspTraining Procedure=DexGYS [3], Time (ms)=11.62026.06 | 67.05 | 0.088 | 0.182 | 6.487 | 1.184 | 0.035 | 6.132 | 55.74 | 6.127 | |
| NDPP-GraspTraining Procedure=DexTOG [4], Time (ms)=17.52026.06 | 65.94 | 0.086 | 0.192 | 13.79 | 1.438 | 0.04 | 3.842 | 32.23 | 3.931 | |
| DexGYSTime (ms)=23.22026.06 | 63.31 | 0.083 | 0.223 | 6.538 | 1.198 | 0.036 | 6.118 | 55.68 | 6.118 | |
| NDPP-GraspTraining Procedure=Text2Grasp [11], Time (ms)=20.52026.06 | 63.27 | 0.084 | 0.163 | 21.78 | 1.798 | 0.049 | 0.402 | 4.131 | 0.461 | |
| AffordDexGraspTime (ms)=493.12026.06 | 62.81 | 0.082 | 0.228 | 6.538 | 1.198 | 0.039 | 5.924 | 53.86 | 5.918 | |
| DexTOGTime (ms)=389.62026.06 | 62.67 | 0.082 | 0.234 | 13.82 | 1.452 | 0.041 | 3.827 | 32.15 | 3.912 | |
| SceneDiffuserTime (ms)=44.12026.06 | 62.24 | 0.083 | 0.253 | 20.44 | 1.679 | 0.045 | 0.346 | 3.455 | 0.387 | |
| Text2GraspTime (ms)=287.42026.06 | 60.43 | 0.08 | 0.197 | 21.83 | 1.812 | 0.051 | 0.398 | 4.123 | 0.452 | |
| DGTRTime (ms)=41.72026.06 | 51.91 | 0.078 | 0.163 | 23.31 | 2.895 | 0.078 | 2.037 | 14.01 | 4.299 | |
| GraspTTATime (ms)=1873.42026.06 | 43.46 | 0.071 | 0.188 | 35.41 | 12.19 | 0.111 | 2.111 | 6.15 | 3.869 | |
| GraspCVAETime (ms)=48.32026.06 | 29.12 | 0.054 | 0.551 | 31.26 | 3.138 | 0.096 | 0.179 | 1.762 | 0.179 |