Can on Mixed Human (MH) demonstration data
0.94Success RateSDP
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SDP2026.01 | 0.94 | 1.7 | |
| SAG2026.01 | 0.94 | 3.76 | |
| Full Precision2026.01 | 0.93 | — | |
| BACCache update steps S=10, Selected upstream blocks k=52026.01 | 0.93 | 3.43 | |
| DDIMInference steps K=302026.01 | 0.92 | 3.33 | |
| FalconSetup=Original setup per Chen et al., 2025a2026.01 | 0.84 | 1.38 | |
| EfficientVLACache updating interval N=72026.01 | 0.75 | 3.34 | |
| CPInference steps K=32026.01 | 0.15 | 15.1 | |
| L2CTraining setup=Same as SAG2026.01 | 0 | 1.26 |