Dexterous Manipulation on DexCraft 20 demonstrations
59.2SprayBot Success RateOurs
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| OursPolicy Architecture=Hierarchical, Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 59.2 | 33.2 | 54 | 32.8 | 49.2 | 43.8 | 45.4 | |
| HP-ScratchPolicy Architecture=Hierarchical, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 43.6 | 29.8 | 43.8 | 31.6 | 34.2 | 48.8 | 38.7 | |
| GraspXL-PTPolicy Architecture=Hierarchical, Pre-training Strategy=GraspXL, Evaluation episodes=5002026.06 | 16.8 | 7.4 | 3.2 | 15.8 | 21 | 13.6 | 13 | |
| DP3-PTPolicy Architecture=End-to-end (3D point cloud), Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 7.6 | 11.2 | 11.4 | 10.4 | 10.4 | 9.2 | 10.1 | |
| DP3Policy Architecture=End-to-end (3D point cloud), Pre-training Strategy=None, Evaluation episodes=5002026.06 | 2.4 | 3.2 | 1.8 | 2.4 | 2.4 | 2.2 | 2.4 | |
| DPPolicy Architecture=End-to-end, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 0.4 | 2 | 0.6 | 0.4 | 0 | 2.8 | 1 |