{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/synthesizing-diverse-and-physically-stable","title":"Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator","arxiv_id":"2104.09194","date":"2021-04-19","proceeding":null,"authors":["Tengyu Liu","Zeyu Liu","Ziyuan Jiao","Yixin Zhu","Song-Chun Zhu"],"abstract":"Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g., models trained with human grasp data would be difficult to transfer to 3-finger grippers. To tackle these deficiencies, we formulate a fast and differentiable force closure estimation method, capable of producing diverse and physically stable grasps with arbitrary hand structures, without any training data. Although force closure has commonly served as a measure of grasp quality, it has not been widely adopted as an optimization objective for grasp synthesis primarily due to its high computational complexity; in comparison, the proposed differentiable method can test a force closure within milliseconds. In experiments, we validate the proposed method's efficacy in 6 different settings.","url_abs":"https://arxiv.org/abs/2104.09194v4","url_pdf":"https://arxiv.org/pdf/2104.09194v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"synthesizing-diverse-and-physically-stable","repo_url":"https://github.com/tengyu-liu/GenDexGrasp","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"synthesizing-diverse-and-physically-stable","repo_url":"https://github.com/tengyu-liu/diverse-and-stable-grasp","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2104.09194","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2104.09194"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/tengyu-liu/GenDexGrasp","reach":null},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/tengyu-liu/diverse-and-stable-grasp","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"listed":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"cb106f7ec939c277","entry":"running_mean","repo":"tengyu-liu/diverse-and-stable-grasp","repo_kind":"listed","path":"thirdparty/DeepSDF/plot_log.py","file_url":"https://github.com/tengyu-liu/diverse-and-stable-grasp/blob/HEAD/thirdparty/DeepSDF/plot_log.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"cb106f7ec939c277"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}