notesum.ai

Published at December 5

Learning Dual-Arm Push and Grasp Synergy in Dense Clutter

cs.RO

Released Date: December 5, 2024

Authors: Yongliang Wang, Hamidreza Kasaei

Arxiv: http://arxiv.org/pdf/2412.04052v1

Refer to caption

Approach	Scene ID	C%	GS%	MN
	Case:3	$84.50\pm 3.54$	$50.26\pm 3.36$	$16.13\pm 1.73$
EPG	Case:4	$85.00\pm 3.35$	$47.98\pm 3.34$	$30.92\pm 4.60$
	Case:5	$91.25\pm 2.50$	$55.58\pm 3.58$	$13.03\pm 0.80$
	Case:3	$86.00\pm 3.35$	$58.86\pm 3.68$	$16.83\pm 1.82$
SPG	Case:4	$91.00\pm 2.77$	$52.98\pm 3.61$	$29.96\pm 1.62$
	Case:5	$97.25\pm 1.60$	$67.17\pm 3.88$	$14.40\pm 0.64$
	Case:3	$\mathbf{98.50\pm 1.03}$	$\mathbf{84.64\pm 3.42}$	$\mathbf{5.71\pm 0.31}$
Ours	Case:4	$\mathbf{97.00\pm 1.70}$	$\mathbf{81.25\pm 3.70}$	$\mathbf{6.09\pm 0.32}$
	Case:5	$\mathbf{98.75\pm 0.93}$	$\mathbf{78.49\pm 3.69}$	$\mathbf{6.05\pm 0.30}$