Drawer Opening on Dynaarm
99.5Task Success RateDDIM†
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DDIM†embodiment_aware=false, platform=floating gripper2026.06 | 99.5 | 100 | 0.66 | 7.67 | |
| L-BFGS Guidancesolver=L-BFGS2026.06 | 81.8 | 87.3 | 0.73 | 8.12 | |
| Gradient Guidance (σ)guidance_type=σ2026.06 | 79.8 | 85 | 0.69 | 9.03 | |
| Gradient Guidance (xt-nudge)guidance_type=xt-nudge2026.06 | 79.8 | 83.8 | 0.68 | 9.09 | |
| DDIMembodiment_aware=true2026.06 | 79.5 | 84 | 0.68 | 9 |