Human-to-Robot Handover on HandoverSim Simultaneous setting s0 (test)
85.65Success Rate (%)Landmark Planning
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Landmark PlanningTraining Split=t02024.01 | 85.65 | — | — | 6.58 | — | — | — | — | 42.8 | |
| Dense PlanningTraining Split=t02024.01 | 84.95 | — | — | 7.45 | — | — | — | — | 36.3 | |
| Landmark PlanningTraining Split=s02024.01 | 79.17 | — | — | 7.26 | — | — | — | — | 34.9 | |
| Destination PlanningTraining Split=s02024.01 | 76.16 | — | — | 6.98 | — | — | — | — | 35.2 | |
| Dense PlanningTraining Split=s02024.01 | 75.45 | — | — | 7.32 | — | — | — | — | 33 | |
| Ours2023.03 | 68.75 | 6.232 | 0.178 | 6.411 | 8.8 | 17.82 | 4.63 | 31.25 | — | |
| Handover-Sim2realTraining Split=s02024.01 | 68.75 | — | — | 6.23 | — | — | — | — | 35.8 | |
| Handover-Sim2realTraining Split=t02024.01 | 62.5 | — | — | 6.04 | — | — | — | — | 33.5 | |
| GA-DDPGfinetuned=true2023.03 | 54.86 | 4.832 | 0.082 | 4.914 | 6.71 | 26.39 | 12.04 | 45.14 | — | |
| GA-DDPGTraining Split=t02024.01 | 44.68 | — | — | 5.3 | — | — | — | — | 26.5 | |
| Handover-Sim2real*Training Split=t0, reproduced=true2024.01 | 38.89 | — | — | 5.29 | — | — | — | — | 23.1 | |
| GA-DDPGfinetuned=false2023.03 | 36.81 | 4.664 | 0.132 | 4.796 | 9.03 | 25 | 29.17 | 63.19 | — | |
| GA-DDPGTraining Split=s02024.01 | 36.81 | — | — | 4.66 | — | — | — | — | 23.6 | |
| Handover-Sim2real*Training Split=s0, reproduced=true2024.01 | 25.69 | — | — | 5.43 | — | — | — | — | 15 | |
| Destination PlanningTraining Split=t02024.01 | 6.48 | — | — | 12.41 | — | — | — | — | 0.3 |