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luyh20 / FGC-GraspNet

ICRA 2022 "Hybrid Physical Metric For 6-DoF Grasp Pose Detection"

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Could you share the AP under friction coefficient thresholds[0.8,0.4]？

QiuJunning opened this issue · comments

commented

Hi！Hybrid Physical Metric is a great work！But I want to know the experiment result under the same friction coefficient thresholds as 1Billion(0.8and0.4). Could you share your result?If you can, please send it to junningqiu@163.com. Thanks!

commented

In the GraspNet-1Billion, the relationship between grasp score and coefficient ：s = 1.1- μ. Hence, the coefficient 0.8, 0.4 correspond to grasp score 0.3, 0.7. Note that Hybrid Physical Metric generates new scores, and the grasp scores 0.3, 0.7 does not exactly correspond to friction coefficient in this work (refer to eq.4 in the H. P. M.). The AP (0.3, 0.7) results is in the experiments.