Dexterous Manipulation on DexCraft 50 demonstrations
61.4SprayBot Success RateOurs
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| OursPolicy Architecture=Hierarchical, Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 61.4 | 46.4 | 72.8 | 58 | 66.6 | 56.4 | 60.3 | |
| HP-ScratchPolicy Architecture=Hierarchical, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 58.6 | 27.8 | 64.2 | 50 | 61.8 | 31 | 48.9 | |
| GraspXL-PTPolicy Architecture=Hierarchical, Pre-training Strategy=GraspXL, Evaluation episodes=5002026.06 | 44 | 34.6 | 42 | 32.6 | 43.2 | 31.4 | 37.8 | |
| DP3-PTPolicy Architecture=End-to-end (3D point cloud), Pre-training Strategy=G2D-Pretrain, Evaluation episodes=5002026.06 | 15.2 | 26.6 | 5.8 | 21.2 | 38.8 | 25.8 | 22.3 | |
| DP3Policy Architecture=End-to-end (3D point cloud), Pre-training Strategy=None, Evaluation episodes=5002026.06 | 4.8 | 8 | 4.4 | 7.6 | 20 | 5.6 | 8.4 | |
| DPPolicy Architecture=End-to-end, Pre-training Strategy=None, Evaluation episodes=5002026.06 | 0.4 | 2.4 | 0.8 | 1.8 | 1.6 | 3.6 | 1.8 |