Goal-reaching on PushT 50 Samples (test)
91.33Success RateResNet (from scratch)
Evaluation results
| Method | Links | |
|---|---|---|
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 91.33 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 85.33 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 78.67 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 77.33 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 71.33 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 70.67 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 70.67 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 70 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 66 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 56 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 48.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 29.33 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 28 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 19.33 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 19.33 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 14.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 11.33 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 5.33 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 2 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 2 |