Drawer Opening on Franka
99.5Task Success RateDDIM†
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| DDIM†embodiment_aware=false, platform=floating gripper2026.06 | 99.5 | 100 | 66 | 7.67 | |
| L-BFGS Guidancesolver=L-BFGS2026.06 | 60 | 70 | 78 | 9.42 | |
| Gradient Guidance (xt-nudge)guidance_type=xt-nudge2026.06 | 58 | 67 | 70 | 10.21 | |
| DDIMembodiment_aware=true2026.06 | 57.8 | 66.3 | 69 | 10.06 | |
| Gradient Guidance (σ)guidance_type=σ2026.06 | 57.8 | 66.8 | 70 | 10.29 |