| | --- |
| | '[object Object]': null |
| | license: mit |
| | language: |
| | - en |
| | --- |
| | |
| | # Model Card for 3D Diffuser Actor |
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| | <!-- Provide a quick summary of what the model is/does. --> |
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| | A robot manipulation policy that marries diffusion modeling with 3D scene representations. |
| | 3D Diffuser Actor is trained and evaluated on [RLBench](https://github.com/stepjam/RLBench) or [CALVIN](https://github.com/mees/calvin) simulation. |
| | We release all code, checkpoints, and details involved in training these models. |
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| | ## Model Details |
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| | The models released are the following: |
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| | | Benchmark | Embedding dimension | Diffusion timestep | |
| | |------|------|------| |
| | | [RLBench (PerAct)]() | 120 | 100 | |
| | | [RLBench (GNFactor)]() | 120| 100 | |
| | | [CALVIN]() | 192 | 25 | |
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| | ### Model Description |
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| | <!-- Provide a longer summary of what this model is. --> |
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| | - **Developed by:** Katerina Group at CMU |
| | - **Model type:** a Diffusion model with 3D scene |
| | - **License:** The code and model are released under MIT License |
| | - **Contact:** ngkanats@andrew.cmu.edu |
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| | ### Model Sources [optional] |
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| | <!-- Provide the basic links for the model. --> |
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| | - **Project Page:** https://3d-diffuser-actor.github.io |
| | - **Repository:** https://github.com/nickgkan/3d_diffuser_actor.git |
| | - **Paper:** [Link]() |
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| | ## Uses |
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| | <!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. --> |
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| | TODO |
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| | ### Direct Use |
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| | <!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. --> |
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| | TODO |
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| | ## Evaluation |
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| | <!-- This section describes the evaluation protocols and provides the results. --> |
| | Our model trained and evaluated on RLBench simulation with the PerAct setup: |
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| | | RLBench (PerAct) | 3D Diffuser Actor | [RVT](https://github.com/NVlabs/RVT) | |
| | | --------------------------------- | -------- | -------- | |
| | | average | 81.3 | 62.9 | |
| | | open drawer | 89.6 | 71.2 | |
| | | slide block | 97.6 | 81.6 | |
| | | sweep to dustpan | 84.0 | 72.0 | |
| | | meat off grill | 96.8 | 88 | |
| | | turn tap | 99.2 | 93.6 | |
| | | put in drawer | 96.0 | 88.0 | |
| | | close jar | 96.0 | 52.0 | |
| | | drag stick | 100.0 | 99.2 | |
| | | stack blocks | 68.3 | 28.8 | |
| | | screw bulbs | 82.4 | 48.0 | |
| | | put in safe | 97.6 | 91.2 | |
| | | place wine | 93.6 | 91.0 | |
| | | put in cupboard | 85.6 | 49.6 | |
| | | sort shape | 44.0 | 36.0 | |
| | | push buttons | 98.4 | 100.0 | |
| | | insert peg | 65.6 | 11.2 | |
| | | stack cups | 47.2 | 26.4 | |
| | | place cups | 24.0 | 4.0 | |
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| | Our model trained and evaluated on RLBench simulation with the GNFactor setup: |
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| | | RLBench (PerAct) | 3D Diffuser Actor | [GNFactor](https://github.com/YanjieZe/GNFactor) | |
| | | --------------------------------- | -------- | -------- | |
| | | average | 78.4 | 31.7 | |
| | | open drawer | 89.3 | 76.0 | |
| | | sweep to dustpan | 894.7 | 25.0 | |
| | | close jar | 82.7 | 25.3 | |
| | | meat off grill | 88.0 | 57.3 | |
| | | turn tap | 80.0 | 50.7 | |
| | | slide block | 92.0 | 20.0 | |
| | | put in drawer | 77.3 | 0.0 | |
| | | drag stick | 98.7 | 37.3 | |
| | | push buttons | 69.3 | 18.7 | |
| | | stack blocks | 12.0 | 4.0 | |
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| | Our model trained and evaluated on CALVIN simulation (train with environment A, B, C and test on D): |
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| | | RLBench (PerAct) | 3D Diffuser Actor | [GR-1](https://gr1-manipulation.github.io/) | [SuSIE](https://rail-berkeley.github.io/susie/) | |
| | | --------------------------------- | -------- | -------- | -------- | |
| | | task 1 | 92.2 | 85.4 | 87.0 | |
| | | task 2 | 78.7 | 71.2 | 69.0 | |
| | | task 3 | 63.9 | 59.6 | 49.0 | |
| | | task 4 | 51.2 | 49.7 | 38.0 | |
| | | task 5 | 41.2 | 40.1 | 26.0 | |
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| | ## Citation [optional] |
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| | <!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. --> |
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|
| | **BibTeX:** |
| |
|
| | ``` |
| | @article{, |
| | title={Action Diffusion with 3D Scene Representations}, |
| | author={Ke, Tsung-Wei and Gkanatsios, Nikolaos and Fragkiadaki, Katerina} |
| | journal={Preprint}, |
| | year={2024} |
| | } |
| | ``` |
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| | ## Model Card Contact |
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| | For errors in this model card, contact Nikos or Tsung-Wei, {ngkanats, tsungwek} at andrew dot cmu dot edu. |
