Long-horizon manipulation on D4RL FrankaKitchen
58.1D4RL Normalized ScoreAdaptDiff
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| AdaptDiffMuninn=false2026.05 | 58.1 | 450 | 60 | — | — | |
| AdaptDiffMuninn=true2026.05 | 57.7 | 167 | 18 | 0.05 | 4.2 | |
| Decision DiffuserMuninn=false2026.05 | 55 | 160 | 20 | — | — | |
| Decision DiffuserMuninn=true2026.05 | 54.9 | 62 | 6.3 | 0.045 | 4 | |
| DiffuserMuninn=false2026.05 | 53.4 | 800 | 100 | — | — | |
| DiffuserMuninn=true2026.05 | 53 | 235 | 21.6 | 0.058 | 4.5 |