Goal-reaching Planning on PointMaze Medium Long-Horizon (50 steps)
99.33Success RateResNet (from scratch)
Evaluation results
| Method | Links | |
|---|---|---|
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 99.33 | |
| DINO-WM + ResNet (Temporal Straightening)L_curv=✓, Planning Protocol=MPC2026.03 | 98.67 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=MPC2026.03 | 98.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 98 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 96.67 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 91.33 | |
| DINO-WM + Channel Proj (Temporal Straightening)L_curv=✓, Planning Protocol=MPC2026.03 | 88 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 82.67 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✓, Planning Protocol=Open-loop2026.03 | 80.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=MPC2026.03 | 78 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 76.67 | |
| DINO-WM + ResNet (Temporal Straightening)L_curv=✓, Planning Protocol=Open-loop2026.03 | 76 | |
| DINO-WM + Channel ProjL_curv=✗, Planning Protocol=MPC2026.03 | 72 | |
| DINOv2 (patch) + projdim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 72 | |
| DINO-WM + Channel Proj (Temporal Straightening)L_curv=✓, Planning Protocol=Open-loop2026.03 | 68 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 67.5 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 66 | |
| DINO-WML_curv=–, Planning Protocol=MPC2026.03 | 65.33 | |
| DINO-WM + Channel ProjL_curv=✗, Planning Protocol=Open-loop2026.03 | 60 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=MPC2026.03 | 57.33 | |
| ResNet (from scratch)dim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 54 | |
| DINO-WM + ResNetL_curv=✗, Planning Protocol=MPC2026.03 | 48 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=MPC2026.03 | 46 | |
| DINOv2 (patch)dim=14 × 14 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 40.83 | |
| DINO-WML_curv=–, Planning Protocol=Open-loop2026.03 | 35 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✓, Planning Protocol=Open-loop2026.03 | 22.67 | |
| DINOv2 (CLS)dim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 20 | |
| ResNet (from scratch)dim=14 × 14 × 8, L_curv=✗, Planning Protocol=Open-loop2026.03 | 18.67 | |
| DINOv2 (patch) + projdim=1 × 384, L_curv=✗, Planning Protocol=Open-loop2026.03 | 18 | |
| DINO-WM + ResNetL_curv=✗, Planning Protocol=Open-loop2026.03 | 14.67 |