Coffee Making/Handling on Robomimic MimicGen Coffee (D2)
65Success RateEquiDiff
Evaluation results
| Method | Links | |
|---|---|---|
| EquiDiffInput Modality=voxel, Expert Demonstrations=100, Number of Seeds=32026.03 | 65 | |
| EquiDiff (voxel)Equ.=SO(2), Zero-shot transfer=true2026.03 | 65 | |
| E3FlowExpert Demonstrations=100, Number of Seeds=32026.03 | 64 | |
| E3FlowEqu.=SE(3), Zero-shot transfer=true2026.03 | 64 | |
| SDPDiffusion Sampler=DDPM, Expert Demonstrations=100, Number of Seeds=32026.03 | 63 | |
| SDPEqu.=SE(3), Zero-shot transfer=true2026.03 | 63 | |
| DP-SSPolicy Epochs=5502026.03 | 60 | |
| PPGuide-SSPolicy Epochs=5502026.03 | 60 | |
| EquiDiffInput Modality=img, Expert Demonstrations=100, Number of Seeds=32026.03 | 60 | |
| PPGuide-CGPolicy Epochs=5002026.03 | 58 | |
| PPGuide-CGPolicy Epochs=5502026.03 | 58 | |
| PPGuidePolicy Epochs=5002026.03 | 58 | |
| PPGuidePolicy Epochs=5502026.03 | 58 | |
| PPGuide-SSPolicy Epochs=5002026.03 | 56 | |
| SDPDiffusion Sampler=DDiM, Expert Demonstrations=100, Number of Seeds=32026.03 | 56 | |
| DPPolicy Epochs=5002026.03 | 54 | |
| DPPolicy Epochs=5502026.03 | 46 | |
| DP-SSPolicy Epochs=5002026.03 | 44 | |
| DPExpert Demonstrations=100, Number of Seeds=32026.03 | 44 | |
| DPEqu.=N/A, Zero-shot transfer=true2026.03 | 44 | |
| DP3Expert Demonstrations=100, Number of Seeds=32026.03 | 34 | |
| BC-RNNExpert Demonstrations=100, Number of Seeds=32026.03 | 32 | |
| ACTExpert Demonstrations=100, Number of Seeds=32026.03 | 20 | |
| EquiBotExpert Demonstrations=100, Number of Seeds=32026.03 | 0 | |
| EquiBotEqu.=SIM(3), Zero-shot transfer=true2026.03 | 0 |