A simulation-based pipeline using GraspIt grasp quality metrics detects hand-object contact with 89.3% accuracy on DexYCB frames.
Calli et al., ”Yale-CMU-Berkeley dataset for robotic manipulation research,” The International Journal of Robotics Research, 2017
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Hand-Object Contact Detection using Grasp Quality Metrics
A simulation-based pipeline using GraspIt grasp quality metrics detects hand-object contact with 89.3% accuracy on DexYCB frames.