Grasp Prediction with Collision Avoidance on Walls environment
60.62SRTotIPOPT
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| IPOPTArm=Franka2026.06 | 60.62 | 76.86 | 100 | 20 | |
| TheseusArm=Franka2026.06 | 50.62 | 55.61 | 100 | 17.5 | |
| Projection GuidanceArm=Franka2026.06 | 43.13 | 45.61 | 100 | 2.5 | |
| TheseusArm=Dynaarm2026.06 | 35.63 | 44.36 | 77.5 | 17.5 | |
| IPOPTArm=Dynaarm2026.06 | 22.5 | 43.74 | 75 | 32.5 | |
| Gradient GuidanceArm=Franka2026.06 | 20.62 | 20.62 | 100 | 30 | |
| Gradient GuidanceArm=Dynaarm2026.06 | 17.5 | 19.99 | 100 | 25 | |
| DDIMArm=Franka2026.06 | 10 | 68.73 | 100 | 85 | |
| DDIMArm=Dynaarm2026.06 | 2.5 | 16.25 | 32.5 | 62.5 | |
| Projection GuidanceArm=Dynaarm2026.06 | 0.63 | 5.62 | 100 | 20 |