Goal-reaching on Wall 50 samples (test)
100Success RateResNet (from scratch)
Evaluation results
| Method | Links | |
|---|---|---|
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 100 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 100 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 100 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 90.67 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 90.67 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 84.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 84 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 80 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 76.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 76 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 66.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 56.67 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 52.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 42 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 28.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 28.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 10 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 6.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 4.67 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 1.33 |