notesum.ai

Published at December 10

cs.RO

cs.CV

Released Date: December 10, 2024

Authors: Yik Lung Pang¹, Alessio Xompero¹, Changjae Oh¹, Andrea Cavallaro²

Aff.: ¹Queen Mary University of London; ²Idiap Research Institute and École Polytechnique Fédérale de Lausanne

Score	Ref.	Container-like objects					Grasp types			Filling		Household objects
		All	C1	C2	C3	C4	TOP	MID	BOT	E	FR	All	O1	O2	O3	O4	O5
Delivery location $\delta$	[12]	0.45	0.52	0.58	0.33	0.38	0.47	0.35	0.53	0.40	0.51	–	–	–	–	–	–
Delivery location $\delta$	Ours	0.48	0.26	0.65	0.59	0.42	0.45	0.45	0.55	0.47	0.49	0.18	0.18	0.11	0.06	0.25	0.31
Efficiency $\gamma$	[12]	0.29	0.31	0.35	0.26	0.25	0.31	0.29	0.29	0.79	0.78	–	–	–	–	–	–
Efficiency $\gamma$	Ours	0.10	0.12	0.09	0.10	0.09	0.10	0.10	0.10	0.10	0.10	0.10	0.09	0.07	0.07	0.14	0.13
Delivered mass $\mu$	[12]	0.78	0.77	0.81	0.77	0.78	0.81	0.81	0.84	0.79	0.78	–	–	–	–	–	–
Delivered mass $\mu$	Ours	0.74	0.53	0.87	0.84	0.73	0.66	0.69	0.88	0.76	0.72	–	–	–	–	–	–
Grasping success $G$	[12]	0.79	0.77	0.81	0.79	0.80	0.82	0.72	0.84	0.79	0.80	–	–	–	–	–	–
Grasping success $G$	Ours	0.75	0.55	0.88	0.84	0.73	0.66	0.69	0.89	0.76	0.74	0.70	0.50	0.66	0.75	0.75	0.83
Delivery success $D$	[12]	0.67	0.73	0.77	0.50	0.68	0.72	0.53	0.76	0.61	0.73	–	–	–	–	–	–
Delivery success $D$	Ours	0.66	0.36	0.86	0.84	0.59	0.63	0.58	0.78	0.69	0.63	0.58	0.41	0.58	0.50	0.58	0.83
Best scores are highlighted in bold for each column and each performance measure. KEY – TOP: top, MID: middle, BOT: bottom, E: empty, FR: full rice, Ref.: reference. C1: small white cup, C2: red cup, C3: beer cup, C4: wine glass, O1: tea box, O2: cracker box, O3: tape, O4: screwdriver, O5: CD.