Grasp Prediction with Collision Avoidance on Tunnels environment
61.88SRTotIPOPT
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| IPOPTArm=Franka2026.06 | 61.88 | 68.11 | 100 | 17.5 | |
| Projection GuidanceArm=Franka2026.06 | 45 | 47.49 | 100 | 10 | |
| TheseusArm=Franka2026.06 | 38.75 | 59.36 | 100 | 30 | |
| Gradient GuidanceArm=Dynaarm2026.06 | 30.63 | 30.62 | 100 | 0 | |
| TheseusArm=Dynaarm2026.06 | 24.37 | 46.24 | 80 | 32.5 | |
| IPOPTArm=Dynaarm2026.06 | 23.75 | 26.24 | 52.5 | 32.5 | |
| Gradient GuidanceArm=Franka2026.06 | 18.12 | 18.12 | 100 | 5 | |
| Projection GuidanceArm=Dynaarm2026.06 | 14.37 | 19.37 | 100 | 22.5 | |
| DDIMArm=Franka2026.06 | 7.5 | 68.73 | 100 | 87.5 | |
| DDIMArm=Dynaarm2026.06 | 0 | 16.25 | 32.5 | 80 |