@INPROCEEDINGS{brahmbhatt2019contactgrasp, title={{ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact}}, author={Brahmbhatt, Samarth and Handa, Ankur and Hays, James and Fox, Dieter}, booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year={2019} }