SPLIT predicts SE(3) pose scores from local geometry in the sample frame, enabling a single diffusion model to generate grasps, handle poses, and upright placement poses for mug manipulation.
Se(3)-diffusionfields: Learning smooth cost functions for joint grasp and motion opti- mization through diffusion,
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SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems
SPLIT predicts SE(3) pose scores from local geometry in the sample frame, enabling a single diffusion model to generate grasps, handle poses, and upright placement poses for mug manipulation.