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

Shih-Wei Guo¹, Tsu-Ching Hsiao^{1 2}, Yu-Lun Liu³, Chun-Yi Lee^{1 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.

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L-shape-real

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100 demos

red-green-block

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10 demos

100 demos

pink-white-block

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100 demos

orange-blue-fillet

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blue-yellow-eye

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yellow-blue-fillet

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Denoising Process

L-shape-real

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

red-green-block

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

pink-white-block

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

orange-blue-fillet

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

blue-yellow-eye

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

yellow-blue-fillet

1 Demonstration

Coarse Pick & Place

Fine Pick

Fine Place

10 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place

100 Demonstrations

Coarse Pick & Place

Fine Pick

Fine Place