Bimanual Manipulation on RLBench 2
94.3Push Box Success RateEnergyAction
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| EnergyActionNumber of demonstrations=1002026.03 | 94.3 | 98.3 | 93 | 73.7 | 93.3 | 89.3 | 87.3 | 63.3 | 50.3 | 99 | 94.3 | 95 | 92.7 | 86.4 | |
| π0-keyposeNumber of demonstrations=1002026.03 | 93 | 97 | 58 | 47 | 44 | 38 | 33 | 27 | 7 | 15 | 72 | 59 | 68 | 50.6 | |
| 3DFANumber of demonstrations=1002026.03 | 84 | 99 | 92 | 59 | 88 | 89 | 91 | 70 | 18 | 96 | 97 | 89 | 92 | 81.8 | |
| KStarDiffuserNumber of demonstrations=1002026.03 | 83 | 98.7 | 38 | 10 | 15 | 16 | 14.5 | 43.7 | 3.5 | 89 | 28 | 27 | 22 | 37.6 | |
| EnergyActionNumber of demonstrations=202026.03 | 81 | 98 | 82.5 | 72 | 92 | 50 | 68 | 43.5 | 46.8 | 97.5 | 94 | 89.8 | 90 | 77.3 | |
| KStarDiffuserNumber of demonstrations=202026.03 | 79.3 | 87 | 28 | 5.5 | 9 | 9.5 | 5.8 | 17 | 0.5 | 83 | 12 | 23.7 | 6.7 | 28.2 | |
| PerAct2Number of demonstrations=1002026.03 | 77 | 50 | 47 | 4 | 10 | 16 | 11 | 12 | 24 | 52 | 5 | 41 | 9 | 27.5 | |
| RVT-LFNumber of demonstrations=1002026.03 | 76.3 | 28.7 | 39 | 3 | 10 | 0 | 0 | 3 | 3 | 2.3 | 6 | 3 | 3 | 13.6 | |
| 3DFANumber of demonstrations=202026.03 | 70 | 84 | 73 | 53 | 53 | 49 | 43 | 29 | 9 | 19 | 39 | 49 | 13 | 44.8 | |
| PerAct-LFNumber of demonstrations=1002026.03 | 66.3 | 68.3 | 30 | 4 | 27 | 7 | 3 | 14.3 | 21 | 47 | 14 | 9 | 8 | 24.5 | |
| PerAct-LFNumber of demonstrations=202026.03 | 63.7 | 42.3 | 8 | 3 | 27 | 2 | 0.3 | 7 | 4.3 | 22 | 6 | 3.3 | 1 | 14.6 | |
| PerAct2Number of demonstrations=202026.03 | 59.7 | 37.7 | 50.7 | 2 | 2.3 | 7 | 17.3 | 3 | 6 | 25 | 4 | 22 | 0 | 18.2 | |
| DP3Number of demonstrations=1002026.03 | 56 | 64 | 35 | 22 | 28.5 | 18.5 | 12 | 6.3 | 8.5 | 1.7 | 25 | 0 | 20 | 22.9 | |
| π0-keyposeNumber of demonstrations=202026.03 | 55 | 68 | 36 | 39 | 38 | 20 | 1 | 22 | 6 | 1 | 27 | 37 | 10 | 27.7 | |
| ACTNumber of demonstrations=1002026.03 | 48.7 | 40.7 | 4 | 0 | 13 | 0 | 0 | 0 | 16 | 0 | 6 | 0 | 2 | 10 | |
| AnyBimanualNumber of demonstrations=1002026.03 | 46 | 36 | 73 | 8 | 32 | 26 | 15 | 7 | 24 | 67 | 14 | 44 | 24 | 32 | |
| RVT-LFNumber of demonstrations=202026.03 | 44 | 12.3 | 12.5 | 1 | 0 | 0 | 0.7 | 1 | 0.5 | 0 | 4 | 3 | 2 | 6.2 | |
| AnyBimanualNumber of demonstrations=202026.03 | 31 | 22 | 39 | 6 | 16 | 13 | 7 | 4 | 17 | 43 | 9 | 31 | 9 | 19 | |
| ACTNumber of demonstrations=202026.03 | 26 | 17.3 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 3.3 | |
| DP3Number of demonstrations=202026.03 | 25.3 | 34.3 | 18 | 8.5 | 12 | 5.5 | 3.2 | 2.7 | 2 | 0 | 8 | 0 | 6.5 | 9.7 |