notesum.ai

Published at October 31

cs.RO

cs.AI

cs.CV

cs.LG

Released Date: October 31, 2024

Authors: Zhenyu Jiang¹, Yuqi Xie¹, Kevin Lin¹, Zhenjia Xu², Weikang Wan³, Ajay Mandlekar², Linxi Fan, Yuke Zhu¹

Aff.: ¹Institution 1, 2; ²Institution 1; ³Institution 3

Task	Source Demo DP	BC-RNN-GMM	BC-RNN	DP
Piece Assembly	$3.3\pm 0.9$	$74.0\pm 2.8$	$74.7\pm 2.5$	$\mathbf{80.7\pm 0.9}$
Threading	$1.3\pm 0.9$	$54.0\pm 4.3$	$55.3\pm 5.0$	$\mathbf{69.3\pm 1.9}$
Transport	$52.7\pm 7.7$	$64.0\pm 3.3$	$60.0\pm 0.0$	$\mathbf{83.3\pm 0.9}$
Box Cleanup	$62.0\pm 1.6$	$64.0\pm 10.0$	$\mathbf{96.7\pm 2.5}$	$92.0\pm 4.3$
Drawer Cleanup	$0.7\pm 0.9$	$30.7\pm 5.0$	$56.7\pm 4.1$	$\mathbf{76.0\pm 0.0}$
Tray Lift	$3.3\pm 0.9$	$66.0\pm 8.2$	$75.3\pm 7.5$	$\mathbf{88.7\pm 0.9}$
Pouring	$0.7\pm 0.9$	$74.0\pm 8.6$	$\mathbf{86.0\pm 3.3}$	$79.3\pm 0.9$
Coffee	$14.7\pm 0.9$	$12.0\pm 1.6$	$73.3\pm 12.3$	$\mathbf{77.3\pm 0.9}$
Can Sorting	$0.7\pm 0.9$	$75.3\pm 1.9$	$96.0\pm 1.6$	$\mathbf{97.3\pm 0.9}$