Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator
Synthesized task-oriented dexterous grasps. GWS is expected to cover TWS for each task.
Grasp Wrench Space (GWS) : all wrenches that can be applied on object through hand contacts.
Task Wrench Space (TWS) : all wrenches that should be applied on object during task execution. TWS is approximated as a 6D hyper-fan and given as a task prior in this work.