Dexterous Manipulation on DexCraft 100 demonstrations
68.4SprayBot Success RateOurs
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| OursPolicy Architecture=Hierarchical, Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 68.4 | 45.4 | 78.6 | 62.6 | 77.2 | 54.6 | 64.6 | |
| HP-ScratchPolicy Architecture=Hierarchical, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 57 | 44.2 | 73.8 | 54.2 | 70.8 | 47.6 | 58 | |
| GraspXL-PTPolicy Architecture=Hierarchical, Pre-training Strategy=GraspXL, Evaluation episodes=5002026.06 | 44.2 | 36.8 | 58.8 | 38.8 | 71.6 | 42 | 48.7 | |
| DP3-PTPolicy Architecture=End-to-end (3D point cloud), Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 29 | 35.2 | 17.4 | 23.2 | 43.8 | 29.6 | 29.7 | |
| DP3Policy Architecture=End-to-end (3D point cloud), Pre-training Strategy=None, Evaluation episodes=5002026.06 | 21 | 15.8 | 14.2 | 13.4 | 39.2 | 10.4 | 19.1 | |
| DPPolicy Architecture=End-to-end, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 0.8 | 3.8 | 1.8 | 2.2 | 2.2 | 3.2 | 2.3 |