Coffee Preparation on Robomimic/MimicGen (D1)
80Success RateEquiDiff
Evaluation results
| Method | Links | |
|---|---|---|
| EquiDiffInput Modality=voxel, Expert Demonstrations=100, Number of Seeds=32026.03 | 80 | |
| EquiDiffInput Modality=img, Expert Demonstrations=100, Number of Seeds=32026.03 | 72 | |
| DPExpert Demonstrations=100, Number of Seeds=32026.03 | 64 | |
| E3FlowExpert Demonstrations=100, Number of Seeds=32026.03 | 60 | |
| SDPDiffusion Sampler=DDPM, Expert Demonstrations=100, Number of Seeds=32026.03 | 56 | |
| SDPDiffusion Sampler=DDiM, Expert Demonstrations=100, Number of Seeds=32026.03 | 50 | |
| ACTExpert Demonstrations=100, Number of Seeds=32026.03 | 36 | |
| PPGuide-SSPolicy Epochs=5002026.03 | 24 | |
| PPGuide-CGPolicy Epochs=5502026.03 | 24 | |
| PPGuidePolicy Epochs=5502026.03 | 22 | |
| PPGuide-SSPolicy Epochs=5502026.03 | 20 | |
| PPGuide-CGPolicy Epochs=5002026.03 | 20 | |
| PPGuidePolicy Epochs=5002026.03 | 20 | |
| DPPolicy Epochs=5502026.03 | 18 | |
| DPPolicy Epochs=5002026.03 | 16 | |
| DP-SSPolicy Epochs=5002026.03 | 14 | |
| DP-SSPolicy Epochs=5502026.03 | 14 | |
| BC-RNNExpert Demonstrations=100, Number of Seeds=32026.03 | 10 | |
| DP3Expert Demonstrations=100, Number of Seeds=32026.03 | 8 | |
| EquiBotExpert Demonstrations=100, Number of Seeds=32026.03 | 2 |