ResearchBenchmarksLong-horizon robot manipulation on Sapien Simulation physical Average of Tasks 1-5 (test)Long-horizon robot manipulation on Sapien Simulation physical Average of Tasks 1-5 (test)Follow78Success Rate (SR)TP-S23.9237.965266.04Jun 14, 2024Evaluation resultsMethodMethodLinksSuccess Rate (SR)Execution EfficiencyTP-SArm Configuration=Sing...Arm Configuration=Single-arm2024.0678100DAG-PlanRepresentation=Task graphRepresentation=Task graph2024.0674152.8RoCoPlanning Approach=Iter...Planning Approach=Iterative multi-agent collaboration2024.066068.7TP-DArm Configuration=Dual...Arm Configuration=Dual-arm2024.0626111.4TwoStepDecomposition=Independ...Decomposition=Independent sub-tasks2024.0626109.2