DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Simulation set
: DexGraspNet 2.0 contains 427M grasps (4 random grasps are visualized in each scene here for clarity).
Real-world Execution
: first row are model-generated grasps conditioned on real-world single-view depth point clouds, second row are top-ranked grasps, and third row are real-world executions.