Bimanual Manipulation on RoboTwin 50 demos
64.3Pick Apple Messy Success RateRCAF
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| RCAFObs.=Img, NFE=12026.07 | 64.3 | 50 | 53.7 | 76.7 | 49.7 | 58.9 | 65.3 | |
| RCAFObs.=PC, NFE=12026.07 | 46.3 | 79 | 58 | 86.3 | 66.3 | 67.2 | 74.2 | |
| 3D ManiFlowObs.=PC, NFE=102026.07 | 42 | 72.3 | 54 | 72.7 | 68.3 | 61.9 | 66.5 | |
| 2D ManiFlowObs.=Img, NFE=102026.07 | 37.3 | 37 | 47.3 | 63.7 | 45.3 | 46.1 | 56.5 | |
| Diffusion PolicyObs.=Img, NFE=102026.07 | 17 | 36.3 | 41.3 | 42 | 7.3 | 28.8 | 39.4 | |
| 3D Flow Matching*Obs.=PC, NFE=102026.07 | 16 | 56.3 | 46.5 | 82.3 | 39.3 | 48.1 | 59.9 | |
| Flow Matching PolicyObs.=Img, NFE=102026.07 | 15.3 | 32 | 43 | 38 | 7.3 | 27.1 | 38.8 | |
| 3D Diffusion PolicyObs.=PC, NFE=102026.07 | 9.3 | 38.3 | 46.3 | 73 | 46.5 | 42.7 | 57.4 |