Match Lighting on Match Lighting 20 demonstrations (evaluation)
80Success RateOurs (Our architecture (III-B) + Flow (III-A))
Evaluation results
| Method | Links | |
|---|---|---|
| Ours (Our architecture (III-B) + Flow (III-A))Architecture=Our architecture (III-B), Training Objective=flow-matching objective (III-A), Sampler=Rectified Flow, Observations=Vision + Touch2025.04 | 80 | |
| Our architecture (III-B) + DDIMArchitecture=Our architecture (III-B), Training Objective=DDPM, Sampler=DDIM, Observations=Vision + Touch2025.04 | 53 | |
| See, Hear, and FeelArchitecture=multi-head attention-based, Training Objective=behaviour cloning loss (explicit), Observations=Vision + Touch2025.04 | 50 | |
| Diffusion Policy (DP architecture + DDIM)Architecture=DP architecture, Training Objective=DDPM, Sampler=DDIM, Observations=Vision + Touch2025.04 | 30 |