Behavior Mode Redirection on Diffusion Policy Push-Wall
80.7Avg Success Rate (SR)MoRE
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MoREModes=left or right2026.06 | 80.7 | 80.7 | 80.7 | 80.7 | |
| Filtered-retrain ref.Modes=left or right2026.06 | 78 | 80 | 78 | 80 | |
| DynaGuideModes=left or right2026.06 | 70 | 73.3 | 71.3 | 73.3 | |
| CPLModes=left or right2026.06 | 50.7 | 58.7 | 53 | 61.3 | |
| Original policyModes=left or right2026.06 | 37 | 38 | 74 | 74 |