Grasp Prediction with Collision Avoidance on Clutter environment
55.63SRTotIPOPT
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| IPOPTArm=Franka2026.06 | 55.63 | 70.61 | 100 | 27.5 | |
| IPOPTArm=Dynaarm2026.06 | 31.25 | 39.99 | 65 | 20 | |
| Gradient GuidanceArm=Dynaarm2026.06 | 28.12 | 28.12 | 100 | 0 | |
| TheseusArm=Franka2026.06 | 26.87 | 38.12 | 97.5 | 27.5 | |
| TheseusArm=Dynaarm2026.06 | 23.13 | 28.37 | 82.5 | 37.5 | |
| Gradient GuidanceArm=Franka2026.06 | 23.13 | 23.74 | 100 | 17.5 | |
| DDIMArm=Franka2026.06 | 6.25 | 60.61 | 100 | 90 | |
| DDIMArm=Dynaarm2026.06 | 4.37 | 19.99 | 32.5 | 67.5 | |
| Projection GuidanceArm=Dynaarm2026.06 | 0 | 0 | 75 | 0 | |
| Projection GuidanceArm=Franka2026.06 | 0 | 0 | 57.5 | 0 |