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Published at November 27

GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation

cs.RO

cs.AI

Released Date: November 27, 2024

Authors: Wenbo Cui¹, Chengyang Zhao², Songlin Wei³, Jiazhao Zhang³, Haoran Geng⁴, Yaran Chen⁵, He Wang⁶

Aff.: ¹Institution 1 and Institution 2; ²Institution 3 and Institution 4; ³Institution 3 and Institution 6; ⁴Institution 3 and Institution 5; ⁵Institution 1; ⁶Institution 2 and Institution 3 and Institution 6

Arxiv: http://arxiv.org/abs/2411.18276v1

Method	Seen			Unseen			Novel
Method	$P$	$P_{0.8}$	$P_{0.4}$	$P$	$P_{0.8}$	$P_{0.4}$	$P$	$P_{0.4}$	$P_{0.8}$
GS[47]	13.28	11.55	6.70	17.36	15.57	9.19	9.76	8.43	5.25
EG[42]	24.72	19.65	9.97	23.91	20.29	9.90	14.56	12.02	9.23
GS*[47]	25.70	20.26	9.00	25.45	20.28	9.67	23.99	20.55	11.20
WA*[2]	14.43	12.44	6.53	11.04	7.41	2.52	4.17	1.85	0.47
Ours*	55.33	51.19	30.25	56.26	53.02	32.91	41.65	39.06	23.25