Fig7:GenDexGrasp in tabletop scenarios

[tjwyj]

I want to know what's the proper training? Thanks for your answer!

[Xiaoyao-Li]

Thanks for your interest.

In GenDexGrasp, we test a tabletop grasping scenario in simulation. First, we employ DFC to synthesize feasible grasping poses for tabletop scenario. This is achieved by introducing a penetration penalty between the robotic hand and the table. Then, we utilize the synthesized MultiDex Dataset, focused on tabletop scenarios, to re-train the ContactMapCVAE network. We caputure the point cloud and estimate its normals for the object and then generate grasping pose with generated contact map given by the ContactMapCVAE.

[tjwyj]

Thanks for your answer.
Could you public the tabletop scenario related datasets if it's convenient for you？Or share it for a short time?
Best regards,