Decoupling target object contact points from hand contact points in an ADMM loop improves simulated dexterous grasp success by ~15 absolute points over Dexonomy while keeping penetration at zero.
A stochastic alternating direction method of multipliers for non-smooth and non-convex optimization,
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GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization
Decoupling target object contact points from hand contact points in an ADMM loop improves simulated dexterous grasp success by ~15 absolute points over Dexonomy while keeping penetration at zero.