Bimanual Manipulation on RLBench2 (test)
88Push Box Success RatePA-BiCoop
Evaluation Results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PA-BiCoopArchitectural=Single-model, Training demonstrations=1002026.06 | 88 | 68.8 | 100 | 88 | 60 | 40 | 48 | 96 | 52 | 48 | 68 | |
| PA-BiCoopArchitectural=Single-model, Training demonstrations=202026.06 | 84 | 61.6 | 100 | 80 | 80 | 24 | 44 | 100 | 36 | 32 | 36 | |
| Kstar DiffuserArchitectural=Single-model, Training demonstrations=1002026.06 | 83 | — | 98 | — | — | — | 44 | 89 | 27 | — | — | |
| Kstar DiffuserArchitectural=Single-model, Training demonstrations=202026.06 | 80 | — | 87 | — | — | — | 17 | 83 | 24 | — | — | |
| PerAct-LFArchitectural=Dual-model, Training demonstrations=1002026.06 | 56 | 20 | 40 | 16 | 28 | 4 | 12 | 28 | 8 | 0 | 8 | |
| RVT-LFArchitectural=Dual-model, Training demonstrations=1002026.06 | 52 | 10 | 16 | 8 | 12 | 4 | 4 | 0 | 0 | 0 | 4 | |
| AnyBimanualArchitectural=Dual-model, Training demonstrations=202026.06 | 28 | 11.6 | 4 | 4 | 12 | 12 | 8 | 16 | 24 | 0 | 8 | |
| AnyBimanualArchitectural=Dual-model, Training demonstrations=1002026.06 | 24 | 20 | 32 | 12 | 20 | 32 | 8 | 32 | 28 | 8 | 4 | |
| RVT-LFArchitectural=Dual-model, Training demonstrations=202026.06 | 12 | 2.4 | 4 | 0 | 8 | 0 | 0 | 0 | 0 | 0 | 0 | |
| PerAct-LFArchitectural=Dual-model, Training demonstrations=202026.06 | 8 | 3.6 | 4 | 0 | 16 | 0 | 0 | 8 | 0 | 0 | 0 | |
| PerAct2Architectural=Single-model, Training demonstrations=1002026.06 | 8 | 14 | 52 | 4 | 12 | 4 | 12 | 0 | 40 | 4 | 8 | |
| ACTArchitectural=Single-model, Training demonstrations=202026.06 | 0 | 4 | 24 | 4 | 12 | 0 | 0 | 0 | 0 | 0 | 0 | |
| PerAct2Architectural=Single-model, Training demonstrations=202026.06 | 0 | 4 | 8 | 0 | 12 | 4 | 0 | 8 | 8 | 0 | 0 | |
| ACTArchitectural=Single-model, Training demonstrations=1002026.06 | 0 | 6 | 36 | 8 | 12 | 0 | 0 | 0 | 0 | 0 | 4 |