Before revision:  Remarkably, our approach is up to 20-30 times faster than the baseline, a significant improvement that opens the door to feedback-based grasp re-planning and task informative grasping. 
After revision:  Remarkably, our approach is up to 20-30 times faster than the baseline, a significant improvement that opens the door to feedback-based grasp re-planning and task informative grasping. Code is available at URL