Embedded Files
Evaluation Environments for DART
Different Task Setting for Success Rate Evaluation When Transferring to Different Category-level Objects
In order to show the performance of DART in more complex and heterogeneous datasets, we made the settings shown in Table 11, where Full means the set of all seen and unseen objects, Heterogeneous means the set of more shape-heterogeneous objects picked from the Full set, and Complex means the set of objects that are randomized by a factor of 1.5 bit-pose based on the Full set.
Task, Task Descriptions, and Corresponding LTL Instructions
Environmental Reward functions for Simulations
Trashcan
Dispenser
Box
Real-world Experiments
Laptop
Real World
Point Cloud View
Segmented Point Cloud View
Real World
Point Cloud View
Segmented Point Cloud View
Box
Real World
Point Cloud View
Segmented Point Cloud View
Hyper-parameters Used in the Experiments
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