Mobile Manipulation on Floorplans 1 - 3 rooms (test)
100Success RateAlways Interact
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Always InteractEpisode Horizon (g)=102026.02 | 100 | 1.19 | 681.79 | 0.8951 | |
| Clean + S/PEpisode Horizon (g)=102026.02 | 100 | 1 | 835.72 | 0.8411 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=15, Environment Knowledge=known2026.02 | 100 | 1.22 | 814.48 | 0.7453 | |
| Always InteractEpisode Horizon (g)=152026.02 | 100 | 1.15 | 905.39 | 0.7044 | |
| Clean + S/PEpisode Horizon (g)=152026.02 | 100 | 1 | 1,075.3 | 0.5282 | |
| Always InteractEpisode Horizon (g)=202026.02 | 100 | 1.14 | 1,108.88 | 0.4082 | |
| Clean + S/PEpisode Horizon (g)=202026.02 | 100 | 1 | 1,200.48 | 0.4297 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=10, Environment Knowledge=known2026.02 | 98.79 | 1.29 | 578.88 | 0.9472 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=20, Environment Knowledge=known2026.02 | 94.55 | 1.5 | 1,044.55 | 0.3322 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=15, Environment Knowledge=unknown2026.02 | 94.14 | 1.53 | 857.79 | 0.545 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=10, Environment Knowledge=unknown2026.02 | 93.33 | 1.85 | 675.52 | 0.6611 | |
| Always DetourEpisode Horizon (g)=202026.02 | 90.45 | 1.96 | 665.64 | 0.3788 | |
| LLM-driven constraint-based planning frameworkEpisode Horizon (g)=20, Environment Knowledge=unknown2026.02 | 88.94 | 1.48 | 1,339.36 | 0.2753 | |
| Always DetourEpisode Horizon (g)=102026.02 | 87.88 | 2.34 | 364.48 | 0.8229 | |
| Always DetourEpisode Horizon (g)=152026.02 | 84.04 | 2.19 | 505.3 | 0.5864 |