Long-horizon Spatiotemporal Consistency on LIBERO, RoboTwin, and Real-Robot platforms (test)
0.13Round-trip LPIPSdWorldEval
Evaluation results
| Method | Links | |
|---|---|---|
| dWorldEvalAction Horizon (H)=52026.04 | 0.13 | |
| dWorldEvalAction Horizon (H)=102026.04 | 0.145 | |
| Ctrl-WorldAction Horizon (H)=52026.04 | 0.149 | |
| WorldGymAction Horizon (H)=52026.04 | 0.191 | |
| dWorldEvalAction Horizon (H)=152026.04 | 0.193 | |
| WorldEvalAction Horizon (H)=52026.04 | 0.216 | |
| WorldGymAction Horizon (H)=102026.04 | 0.224 | |
| Ctrl-WorldAction Horizon (H)=102026.04 | 0.233 | |
| dWorldEvalAction Horizon (H)=202026.04 | 0.243 | |
| Ctrl-WorldAction Horizon (H)=152026.04 | 0.296 | |
| WorldGymAction Horizon (H)=152026.04 | 0.308 | |
| WorldEvalAction Horizon (H)=102026.04 | 0.32 | |
| Ctrl-WorldAction Horizon (H)=202026.04 | 0.37 | |
| WorldEvalAction Horizon (H)=152026.04 | 0.467 | |
| WorldGymAction Horizon (H)=202026.04 | 0.482 | |
| WorldEvalAction Horizon (H)=202026.04 | 0.531 |