notesum.ai

Published at December 4

AffordDP: Generalizable Diffusion Policy with Transferable Affordance

cs.RO

Released Date: December 4, 2024

Authors: Shijie Wu¹, Yihang Zhu, Yunao Huang, Kaizhen Zhu, Jiayuan Gu, Jingyi Yu, Ye Shi, Jingya Wang

Aff.: ¹ShanghaiTech University

Arxiv: http://arxiv.org/pdf/2412.03142v1

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Real-World Results
Tasks	Pull Drawer			Open Door			Pick & Place
Methods	Seen	Unseen	Unseen	Seen	Unseen	Unseen	Seen	Unseen	Unseen
Methods	Instance	Instance	Category	Instance	Instance	Category	Instance	Instance	Category
DP	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%	0.0%
DP3	10.0%	0.0%	10.0%	20.0%	0.0%	30.0%	40.0%	30.0%	15.0%
Ours	67.5%	45.0%	40.0%	80.0%	50.0%	50.0%	52.5%	65.0%	50.0%