3D Visualization of UGG: Unified Generative Grasping

Grasp Generation

Bottle / Mug

Bowl / Jar / Vase

Flat Object

Daily Object

Novel Category Object

Contact Anchor

Object Generation

Trained on 10 bottles subset

Trained on 20 objects subset

Trained on entire dataset

Joing Generation

Trained on 10 bottles subset

Trained on 20 objects subset