Articulated Object Manipulation on Uneven Object Dataset (Held-out Categories)
53.4AVGcConditional Diffusion
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Conditional DiffusionBase Model=Conditional Diffusion2025.08 | 53.4 | 41.2 | — | 78.7 | 66.7 | 46.7 | 60.7 | |
| Generator OnlyBase Model=Generator Only2025.08 | 44.4 | 25 | — | 85.3 | 66.7 | 14.8 | 65.7 | |
| FlowBot3DBase Model=FlowBot3D2025.08 | 39.6 | 29.4 | — | 56 | 66.7 | 38.6 | 27.9 | |
| FlowBotHDConditioning (CC)=false2025.08 | 30.4 | 28.1 | — | 46.7 | 6.7 | 13.8 | 37.9 | |
| HAVE (Point Cloud as Result)Ablation Configuration=Point Cloud as Result2025.08 | 23.5 | 13 | — | 62.7 | 6.7 | 3.8 | 19.3 | |
| HAVE (Sparse Action)Ablation Configuration=Sparse Action2025.08 | 22.7 | 12.5 | — | 72 | 33.3 | 1.9 | 15 | |
| HAVEObservation Flow Input=DELTA2025.08 | 21.5 | 14.1 | — | 62.7 | 6.7 | 2.4 | 20 | |
| HAVE (w/o History Score Loss)Ablation Configuration=w/o History Score Loss2025.08 | 18.1 | 10.6 | — | 52 | 0 | 0.5 | 12.1 | |
| HAVEObservation Flow Input=GT obs flow2025.08 | 16.9 | 11.3 | — | 44 | 13.3 | 0.5 | 13.6 | |
| HAVE (w/o Unconditional Score Loss)Ablation Configuration=w/o Unconditional Score Loss2025.08 | 16.1 | 10.6 | — | 60 | 6.7 | 1 | 14.3 | |
| FlowBotHDConditioning (CC)=true2025.08 | 14.8 | 10.9 | — | 22.7 | 0 | 6.2 | 32.9 | |
| Oracle VerifierOracle Type=Verifier2025.08 | 14.4 | 9.2 | — | 58.7 | 6.7 | 1 | 10.7 | |
| Oracle SamplerOracle Type=Sampler2025.08 | 12.2 | 9.5 | — | 30.7 | 0 | 2.4 | 10.7 |