Bimanual Non-Prehensile Manipulation on BiNoMaP Bimanual Manipulation Suite
0.9667Poking (L/R) Plastic Cup Success RateBiNoMaP
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| BiNoMaPPolicy Type=RL-free, Training Time (h)=0.12025.09 | 0.9667 | 0.8333 | 0.6667 | 0.8667 | 1 | 0.8333 | 86.1 | |
| DyWAPolicy Type=RL-based, Training Time (h)=41.22025.09 | 0.7 | 0.6333 | 0.1333 | 0.5667 | 0.6667 | 0.2333 | 48.9 | |
| DP3Policy Type=Visuomotor, Training Time (h)=6.22025.09 | 0.6667 | 0.4667 | 0.1333 | 0.4667 | 0.7667 | 0.2 | 45 | |
| DPPolicy Type=Visuomotor, Training Time (h)=4.82025.09 | 0.5333 | 0.3667 | 0 | 0.3333 | 0.6667 | 0.1333 | 33.9 | |
| CORNPolicy Type=RL-based, Training Time (h)=24.02025.09 | 0.5333 | 0.5 | 0.0333 | 0.3667 | 0.5667 | 0.2 | 36.7 | |
| ACTPolicy Type=Visuomotor, Training Time (h)=8.52025.09 | 0.3333 | 0.1 | 0.0333 | 0.1667 | 0.3667 | 0.0333 | 17.2 | |
| HACManPolicy Type=RL-based, Training Time (h)=11.12025.09 | 0.2333 | 0 | 0.0333 | 0.0667 | 0.2333 | 0.0667 | 10.6 |