{"article":{"@attributes":{"key":"journals\/ral\/LiuLJZZ22","mdate":"2023-12-22"},"author":["Tengyu Liu","Zeyu Liu","Ziyuan Jiao","Yixin Zhu 0001","Song-Chun Zhu"],"title":"Synthesizing Diverse and Physically Stable Grasps With Arbitrary Hand Structures Using Differentiable Force Closure Estimator.","pages":"470-477","year":"2022","volume":"7","journal":"IEEE Robotics Autom. Lett.","number":"1","ee":"https:\/\/doi.org\/10.1109\/LRA.2021.3129138","url":"db\/journals\/ral\/ral7.html#LiuLJZZ22"}}