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Published at October 21

Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion

cs.AR

Released Date: October 21, 2024

Authors: Zixuan Huang, Yinong He, Yating Lin, Dmitry Berenson

Arxiv: https://arxiv.org/abs/2410.16571v1

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Method	Cable Routing		Notebook
	Success $\uparrow$	Complete $\uparrow$	Success $\uparrow$
Implicit Contact Diffuser	90	95	95
Subgoal Diffuser [10]	65	80	100
Diffusion Policy [13]	30	40	70
3D Diffusion Policy [15]	15	40	5
PC-MPPI	25	55	50
NDF-MPPI	55	70	10
Global NDF	50	75	75