Bimanual Robotic Manipulation on Real-world
66.7Lift Plate Success RateKStar Diffuser
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| KStar DiffuserBackbone=Diffusion, Number of demonstrations=100, Number of test trials=152025.03 | 66.7 | 19.7 | 43.1 | |
| PerAct2Backbone=Transformer, Number of demonstrations=100, Number of test trials=152025.03 | 51.1 | 8.8 | 29.9 | |
| DP3Backbone=Diffusion, Number of demonstrations=100, Number of test trials=152025.03 | 44 | 0 | 22 | |
| DPBackbone=Diffusion, Number of demonstrations=100, Number of test trials=152025.03 | 42.1 | 0 | 21.1 | |
| ACTBackbone=Transformer, Number of demonstrations=100, Number of test trials=152025.03 | 37.8 | 0 | 18.9 |