Mug Upright
JOINT OPT(SE(3)-DiF)
SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=1)
SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=10)
Mug Flipped
JOINT OPT(SE(3)-DiF)
SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=1)
SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=10)
Pick Occlusions
Pick and Reorient
Pick and Place