# Precise Pick-and-Place using Score-Based Diffusion Networks

arXiv: https://arxiv.org/abs/2409.09725 · HTML: https://mlsanity.com/paper/2409.09725/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 38 references that are in the map.
- First posted on arXiv 15 Sep 2024.

## Builds on (most cited first, 26 of 26)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Generative Modeling by Estimating Gradients of the Data Distribution](https://mlsanity.com/paper/1907.05600/) (2019)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Transporter Networks: Rearranging the Visual World for Robotic Manipulation](https://mlsanity.com/paper/2010.14406/) (2020)
- [A Kernelized Stein Discrepancy for Goodness-of-fit Tests and Model Evaluation](https://mlsanity.com/paper/1602.03253/) (2016)
- [MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale](https://mlsanity.com/paper/2104.08212/) (2021)
- [Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition](https://mlsanity.com/paper/2307.14535/) (2023)
- [Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstration](https://mlsanity.com/paper/1707.02920/) (2017)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation](https://mlsanity.com/paper/2309.02685/) (2023)
- [PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play](https://mlsanity.com/paper/2312.04549/) (2023)
- [Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D](https://mlsanity.com/paper/2401.12046/) (2024)
- [Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement](https://mlsanity.com/paper/2307.04751/) (2023)
- [Self-supervised Learning for Precise Pick-and-place without Object Model](https://mlsanity.com/paper/2006.08373/) (2020)
- [ReorientDiff: Diffusion Model based Reorientation for Object Manipulation](https://mlsanity.com/paper/2303.12700/) (2023)
- [Leveraging Symmetries in Pick and Place](https://mlsanity.com/paper/2308.07948/) (2023)
- [Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)](https://mlsanity.com/paper/2305.15873/) (2023)
- [Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core](https://mlsanity.com/paper/1911.10249/) (2019)
- [Multi-Task Learning with Sequence-Conditioned Transporter Networks](https://mlsanity.com/paper/2109.07578/) (2021)
- [Train What You Know -- Precise Pick-and-Place with Transporter Networks](https://mlsanity.com/paper/2302.09000/) (2023)

## Built on by (most cited first, 1 of 1)

- [See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation](https://mlsanity.com/paper/2509.22653/) (2025)

## Abstract (arXiv)

In this paper, we propose a novel coarse-to-fine continuous pose diffusion method to enhance the precision of pick-and-place operations within robotic manipulation tasks. Leveraging the capabilities of diffusion networks, we facilitate the accurate perception of object poses. This accurate perception enhances both pick-and-place success rates and overall manipulation precision. Our methodology utilizes a top-down RGB image projected from an RGB-D camera and adopts a coarse-to-fine architecture. This architecture enables efficient learning of coarse and fine models. A distinguishing feature of our approach is its focus on continuous pose estimation, which enables more precise object manipulation, particularly concerning rotational angles. In addition, we employ pose and color augmentation techniques to enable effective training with limited data. Through extensive experiments in simulated and real-world scenarios, as well as an ablation study, we comprehensively evaluate our proposed methodology. Taken together, the findings validate its effectiveness in achieving high-precision pick-and-place tasks.