6-DoF Object Rearrangement on Open6DOR Isaac Sim V1
17.2Position Tracking Error (Level 0)Dream2Real
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Dream2RealTime Cost (s)=358.3s2025.02 | 17.2 | 11 | 15.9 | 37.3 | 22.6 | 26.2 | 31.3 | 26.2 | 18.7 | 13.5 | |
| VoxPoser2025.02 | 35.6 | 21.7 | 32.6 | — | — | — | — | — | — | — | |
| GPT-4V2025.02 | 46.8 | 38.1 | 45.2 | 9.1 | 6.9 | 11.7 | 9.2 | — | — | — | |
| Open6DOR-GPTTime Cost (s)=126.3 s2025.02 | 78.6 | 60.3 | 74.9 | 45.7 | 32.5 | 49.8 | 41.1 | 84.8 | 40 | 35.6 | |
| SOFAR-LLaVATime Cost (s)=9.6s2025.02 | 86.3 | 57.9 | 78.7 | 62.5 | 30.2 | 67.1 | 48.6 | 83 | 48.2 | 40.3 | |
| SOFARTime Cost (s)=8.5s2025.02 | 96 | 81.5 | 93 | 68.6 | 42.2 | 70.1 | 57 | 92.7 | 52.7 | 48.7 |