Behavior Mode Redirection on Diffusion Policy Quadruped
100SR (Avg)Filtered-retrain ref.
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Filtered-retrain ref.Modes=left or right2026.06 | 100 | 100 | 100 | 100 | |
| MoREModes=left or right2026.06 | 84.3 | 95.3 | 84.7 | 95.3 | |
| CPLModes=left or right2026.06 | 67.7 | 77.3 | 80.7 | 98 | |
| DynaGuideModes=left or right2026.06 | 50.3 | 54.7 | 100 | 100 | |
| Original policyModes=left or right2026.06 | 50 | 56 | 100 | 100 |