Before revision:  Given a visual observation of the scene and the gripper, AdaGrasp infers the possible grasping poses and their grasp scores by computing the cross convolution between the shape encodings of the input gripper and scene.
After revision:  Given a visual observation of the scene and the gripper, AdaGrasp infers the possible grasping poses and their grasp scores by computing the cross convolution between the shape encodings of the gripper and scene.