Precise Pick-and-Place using Score-Based Diffusion Networks

Shih-Wei Guo1, Tsu-Ching Hsiao1 2, Yu-Lun Liu3, Chun-Yi Lee1 2
1Elsa Lab, National Tsing Hua University, Hsinchu City, Taiwan. 2Elsa Lab, National Taiwan University, Taipei City, Taiwan. 3National Yang Ming Chiao Tung University, Hsinchu City, Taiwan.
IROS 2024
arXiv

Real Robot Test

Videos speed up 16x

L-shape-real

1 demo

10 demos

100 demos

red-green-block

1 demo

10 demos

100 demos

pink-white-block

1 demo

10 demos

100 demos

orange-blue-fillet

1 demo

10 demos

100 demos

blue-yellow-eye

1 demo

10 demos

100 demos

yellow-blue-fillet

1 demo

10 demos

100 demos

Denoising Process

L-shape-real

red-green-block

pink-white-block

orange-blue-fillet

blue-yellow-eye

yellow-blue-fillet

BibTeX

@inproceedings{guo2024precise,
        title={Precise Pick-and-Place using Score-Based Diffusion Networks},
        author={Guo, Shih-Wei and Hsiao, Tsu-Ching and Liu, Yu-Lun and Lee, Chun-Yi},
        booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems},
        pages={},
        year={2024},
        organization={IEEE}
      }