Goal-conditioned contact-rich manipulation on Push-T
89.3Success RateCEM
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CEMn=50, Planner cost=10.8M model, 45K calls / plan2026.05 | 89.3 | 10,558 | 10,340 | — | — | |
| GC-IDMn=50, Planner cost=1.5M MLP, 0.71 ms /fwd, 0 pred. calls2026.05 | 84.7 | 305 | 86 | 35 | 121 | |
| GC-IDMn=200, Planner cost=1.5M MLP, 0.71 ms /fwd, 0 pred. calls2026.05 | 84.2 | 322 | 397 | 33 | 106 | |
| CEMn=200, Planner cost=10.8M model, 45K calls / plan2026.05 | 82.5 | 10,778 | 42,232 | — | — |