Experiment Videos

Ours

normal plate

medium plate

small plate

cup

Baselines

Lee et al. - normal plate

Lee et al. - medium plate

Lee et al. - small plate

Lee et al. - cup

straight-down - normal plate

straight-down - medium plate

straight-down - small plate

straight-down - cup

random-search, normal plate

random-search, medium plate

random-search, small plate

random-search, cup

Ablation Study

Recurrent memory representation

2x stacked history

stacked velocity

without policy inference delay

without observation history

without bTt pose noise in observation

trained with PPO instead of SAC