Behavior Cloning on RoboMimic State-Based (ph mixed-mh)
100Lift Success Rate (ph)DiffusionPolicy-C
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DiffusionPolicy-CBackbone=MLP2026.04 | 100 | 100 | 100 | 94 | 96 | 84 | 80 | 96 | 82 | 84 | 92 | 85.4 | |
| DiffusionPolicy-TBackbone=Transformer2026.04 | 100 | 100 | 98 | 88 | 94 | 76 | 54 | 82 | 65 | 78 | 84 | 80.1 | |
| VADF-C (Ours)Backbone=MLP2026.04 | 100 | 100 | 100 | 100 | 100 | 88 | 86 | 96 | 85 | 90 | 95 | 91.3 | |
| VADF-T (Ours)Backbone=Transformer2026.04 | 100 | 100 | 98 | 92 | 100 | 84 | 72 | 80 | 68 | 88 | 88 | 86.8 | |
| IBC2026.04 | 79 | 15 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 10 | 10 |