Future state retrieval on DROID t+3 (1.2s prediction horizon)
48.27Hit@1CAPE
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| CAPEMethod Category=Ours2026.06 | 48.27 | 87.48 | 95.17 | |
| JEPA-WMMethod Category=Latent Predictive2026.06 | 4.2 | 25.21 | 45.62 | |
| zero-actionMethod Category=Non-predictive2026.06 | 4.08 | 16.35 | 24.95 | |
| DINO-WMMethod Category=Latent Predictive2026.06 | 4.06 | 26.21 | 48.91 | |
| Premier-TACOMethod Category=Temporal Contrastive2026.06 | 3.61 | 16.4 | 27.99 | |
| DreamerV3Method Category=Reconstruction2026.06 | 2.92 | 19.76 | 30.85 | |
| V-JEPA2 ACMethod Category=Latent Predictive2026.06 | 1.07 | 26.2 | 49.1 | |
| IRISMethod Category=Reconstruction2026.06 | 0.55 | 30.12 | 63.35 |