Constrained robotic manipulation on D3IL Avoiding
100Success RateDiRecT
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DiRecT2026.06 | 100 | 100 | 62.86 | 0.688 | |
| Gradient Guidance2026.06 | 88 | 98 | 62.58 | 6.615 | |
| Projected Diffusion2026.06 | 77 | 97 | 63.77 | 1.367 | |
| SafeDiffuser-RoS2026.06 | 37 | 82 | 63.19 | 18.89 | |
| Augmented Lagrangian2026.06 | 22 | 84 | 63.45 | 4.152 | |
| Unconstrained Diffuser2026.06 | 6 | 96 | 70.3 | 0.224 |