Before revision:  We experimentally validate and benchmark our method against  standard grasp-sampling methods on 790 grasps in simulation and 20 grasps on a real Franka Emika Panda.
After revision:  We experimentally validate and benchmark our method against a standard grasp-sampling methods on 790 grasps in simulation and 20 grasps on a real Franka Emika Panda.