Cloth folding on Trousers (test)
91Preference 1 ScoreRKO
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| RKOtraining_demonstrations=60, backbone=CNN encoder + U-Net denoising, input=RGB image, beta=12, tau=0.152026.02 | 91 | 76 | 62 | |
| KTOtraining_demonstrations=60, backbone=CNN encoder + U-Net denoising, input=RGB image, beta=122026.02 | 86 | 65 | 52 | |
| RPOtraining_demonstrations=60, backbone=CNN encoder + U-Net denoising, input=RGB image, beta=20, tau=0.152026.02 | 79 | 79 | 57 | |
| DDPMtraining_demonstrations=60, backbone=CNN encoder + U-Net denoising, input=RGB image2026.02 | 70.1 | 66.7 | 45.3 | |
| DPOtraining_demonstrations=60, backbone=CNN encoder + U-Net denoising, input=RGB image, beta=102026.02 | 68 | 78 | 59 |