Gripper finger detection?

[seann999]

Thanks for sharing the cool work!
I'm interested in the details of the gripper finger detector, but I am having trouble finding them in the paper and the repo.
Can anyone point me somewhere or tell me about it?
I'm particularly interested in the architecture and representation of the detection outputs. (i.e. is it like a heatmap, a direct regression of 2 2D coordinates, etc?)