Robosuite

Table of Contents

Visualizations of closed loop and open loop rollouts

Task Summaries

Robosuite serves as a benchmark for table-top manipulation tasks, and we consider three tasks. square-nut: picking up and placing a square nut around a square peg. coffee-pod: placing a coffee pod into a coffee machine, threading: thread a needle into a light moveable platform.

square-nut

coffee-pod

threading

Visualizations of closed loop and open loop rollouts

We observe empirically on these tasks that Diffusion Policy when executed open loop attains similar success rates as that of the closed loop execution.

square-nut

closed loop execution

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open loop execution

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coffee-pod

closed loop execution

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open loop execution

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threading

closed loop execution

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open loop execution

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