Pick-and-place (Cucumber on Plate) on Franka Research 3 (DROID setup, test)
98Solve RateAutoHorizon
Evaluation results
| Method | Links | |
|---|---|---|
| AutoHorizonbackbone VLA=π0.5, prediction horizon (p)=502026.02 | 98 | |
| Static Oracle+backbone VLA=π0.5, prediction horizon (p)=502026.02 | 97 | |
| Static Oracleexecution horizon (e)=10, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 94 | |
| Static Oracleexecution horizon (e)=5, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 91.5 | |
| Static Oracleexecution horizon (e)=30, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 89 | |
| Randombackbone VLA=π0.5, prediction horizon (p)=502026.02 | 88.5 | |
| Static Oracleexecution horizon (e)=20, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 88 | |
| Static Oracleexecution horizon (e)=40, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 79 | |
| Static Oracleexecution horizon (e)=50, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 50 |