A one-stage latent diffusion model with an adaptation module generates MANO hand grasping poses from object point clouds faster and with lower penetration than two-stage optimization baselines.
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FastGrasp: Efficient Grasp Synthesis with Diffusion
A one-stage latent diffusion model with an adaptation module generates MANO hand grasping poses from object point clouds faster and with lower penetration than two-stage optimization baselines.