Experimental Videos

Evaluation of SE(3)-DiffusionFields for robot grasp-pose generation

Mug Upright

end_end_nominal.mp4

JOINT OPT(SE(3)-DiF)

split_1_nominal.mp4

SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=1)

split_10_nominal.mp4

SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=10)

Mug Flipped

end_end_ud.mp4

JOINT OPT(SE(3)-DiF)

split_1_ud.mp4

SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=1)

split_10_ud.mp4

SAMPLE (SE(3)-DiF) + TRAJ OPT (n_sm=10)

Pick Occlusions

pick_8.mov

pick_2.mov

pick_10.mov

pick_9.mov

pick_3.mov

pick_5.mov

Pick and Reorient

pick_reorient_011.mov

pick_reorient_106.mov

pick_reorient_104.mov

pick_reorient_012.mov

pick_reorient_103.mov

pick_reorient_101.mov

Pick and Place

pick_place_001.mov

pick_place_004.mov

pick_place_0045.mov