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luyh20 / FGC-GraspNet

ICRA 2022 "Hybrid Physical Metric For 6-DoF Grasp Pose Detection"
MIT License
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Confusion about 'scores' #9

Open Ryze-jo opened 5 months ago

Ryze-jo commented 5 months ago

Hi@luyh20 I noticed that friction in your project https://github.com/luyh20/FGC-GraspNet/blob/main/FGC_generate/score_allocation.py#L23-L23 means friction = scores(which from labels). However, the score in graspnet dataset means score = 1-friction. Is it a bug?

luyh20 commented 5 months ago

This score is a origin score from graspnet-1bilion dataset, and it has a relationship with friction which from the graspnet-1billion. You can refer to this work https://openaccess.thecvf.com/content_CVPR_2020/papers/Fang_GraspNet-1Billion_A_Large-Scale_Benchmark_for_General_Object_Grasping_CVPR_2020_paper.pdf about the formula (2).