Research map / Detection and segmentation / 3D detection and driving
Autonomous Manipulation Learning for Similar Deformable Objects via Only One Demonstration
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use NST and NSE for one-demonstration skill transfer instead of Garmentnet correspondence transfer | Deformable cap manipulation · Cap40 simulated cap wearing | WSR τ=0.2d: 65.16 -> 86.55 | Helped |
| Use NST and NSE for one-demonstration skill transfer instead of Garmentnet correspondence transfer | Deformable cap manipulation · Real-world cap wearing | Wear success rate: 0.44 -> 0.78 | Helped |
| Add contrastive loss Lconst (ablation) | NST/NSE deformable cap manipulation · Cap40 simulated cap wearing | WSR τ=0.2d: 83.17 -> 86.55 | Helped |
| Add contrastive loss Lconst (ablation) | NST/NSE deformable cap manipulation · Real-world cap wearing | Wear success rate: 0.76 -> 0.78 | Helped |
| Add NSE module (ablation) | NST deformable cap manipulation · Cap40 simulated cap wearing | WSR τ=0.2d: 82.14 -> 86.55 | Helped |
| Add NSE module (ablation) | NST deformable cap manipulation · Real-world cap wearing | Wear success rate: 0.72 -> 0.78 | Helped |
| Add contrastive loss Lconst to NST (ablation) | Nocs coordinate prediction · Cap40 | Accuracy τ=0.04d: 57.0 -> 62.0 | Helped |
Closest papers by meaning
- DeformGen: Dynamics-Based Topology Augmentation for Deformable Manipulation Policy Learning (NeurIPS 2026 · similarity 0.88)
- Category-Agnostic Neural Object Rigging (CVPR 2025 · similarity 0.87)
- AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning (ICLR 2025 · similarity 0.86)
- DynaRend: Learning 3D Dynamics via Masked Future Rendering for Robotic Manipulation (NeurIPS 2025 · similarity 0.85)
- Neural Pose Representation Learning for Generating and Transferring Non-Rigid Object Poses (NeurIPS 2024 · similarity 0.85)
- Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets (ICLR 2025 · similarity 0.85)
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