question about GIGA(HR)

[ut-austin-rpl]

question about GIGA(HR)

[Steve-Tod]

Hi, thank you for your interest in our work and the deep investigation!

I'm not sure if I understand your question correctly. I guess you are asking about how to sample grasp candidates in arbitrary resolution, given the TSDF with fixed resolution.

Suppose we want to sample grasp candidates at 808080 resolution, we can first get the valid voxels using TSDF of 40 resolution. Then we can upsample the valid voxels into 80 resolution, and use the points inside the valid voxels to query grasping parameters. The key point here is that the valid voxel grid is easily interpolable, but the grasp parameters are not, and that's where the implicit representation comes into play.