Goal-reaching Planning on PushT Long-Horizon (50 steps)
60Success RateP3 long-to-short (Kmax=3)
Evaluation results
| Method | Links | |
|---|---|---|
| P3 long-to-short (Kmax=3)strategy=long-to-short, K_max=32026.06 | 60 | |
| P1 fixed k*=5strategy=fixed, chunk size=52026.06 | 56 | |
| P1 fixed k*=3strategy=fixed, chunk size=32026.06 | 52 | |
| P2 random (Kmax=5)strategy=random, K_max=52026.06 | 52 | |
| P3 long-to-short (Kmax=5)strategy=long-to-short, K_max=52026.06 | 48 | |
| LeWM (base, k=1)chunk size=12026.06 | 46 | |
| DINO-WM + ResNet (Temporal Straightening)L_curv=✓, Planning Protocol=MPC2026.03 | 33.33 | |
| DINO-WM + ResNetL_curv=✗, Planning Protocol=MPC2026.03 | 29.33 | |
| DINO-WML_curv=–, Planning Protocol=MPC2026.03 | 27.33 | |
| DINO-WM + Channel ProjL_curv=✗, Planning Protocol=MPC2026.03 | 26.67 | |
| DINO-WM + Channel Proj (Temporal Straightening)L_curv=✓, Planning Protocol=MPC2026.03 | 24 | |
| DINO-WM + Channel Proj (Temporal Straightening)L_curv=✓, Planning Protocol=Open-loop2026.03 | 13.33 | |
| DINO-WM + ResNetL_curv=✗, Planning Protocol=Open-loop2026.03 | 13.33 | |
| DINO-WM + ResNet (Temporal Straightening)L_curv=✓, Planning Protocol=Open-loop2026.03 | 10.67 | |
| DINO-WM + Channel ProjL_curv=✗, Planning Protocol=Open-loop2026.03 | 6.67 | |
| DINO-WML_curv=–, Planning Protocol=Open-loop2026.03 | 3.33 |