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