Closed-loop Planning on RoboCasa Rc-R
49Success RateCAPE
Evaluation Results
| Method | Links | |
|---|---|---|
| CAPEh=3, Evaluation Protocol=zero-shot planning2026.06 | 49 | |
| CAPEh=5, Evaluation Protocol=zero-shot planning2026.06 | 32.1 | |
| JEPA-WMh=3, Evaluation Protocol=zero-shot planning2026.06 | 23.4 | |
| V-JEPA2 ACh=3, Evaluation Protocol=zero-shot planning2026.06 | 20.2 | |
| JEPA-WMh=5, Evaluation Protocol=zero-shot planning2026.06 | 18.4 | |
| V-JEPA2 ACh=5, Evaluation Protocol=zero-shot planning2026.06 | 17.3 | |
| DINO-WMh=3, Evaluation Protocol=zero-shot planning2026.06 | 16.8 | |
| IRISh=3, Evaluation Protocol=zero-shot planning2026.06 | 9.4 | |
| DINO-WMh=5, Evaluation Protocol=zero-shot planning2026.06 | 7.6 | |
| IRISh=5, Evaluation Protocol=zero-shot planning2026.06 | 4.7 | |
| DreamerV3h=3, Evaluation Protocol=zero-shot planning2026.06 | 4.2 | |
| Premier-TACOh=3, Evaluation Protocol=zero-shot planning2026.06 | 3.3 | |
| DreamerV3h=5, Evaluation Protocol=zero-shot planning2026.06 | 2.3 | |
| Premier-TACOh=5, Evaluation Protocol=zero-shot planning2026.06 | 1.3 |