Pick-and-place robot manipulation on Sim-to-real Real-world Evaluation Scenes
100PSRPPOFlow
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| PPOFlowScene=1, Language Command=put the broccoli on the mug., Scene Distractors=knife, cutting board, Training Scenes=1002026.03 | 100 | 70 | 30 | 0 | 10.4 | |
| PPOFlowScene=4, Language Command=put the (pink) eraser on the notebook., Scene Distractors=black pen, mug, Training Scenes=1002026.03 | 100 | 100 | — | — | 10.2 | |
| PPOFlowScene=5, Language Command=put the (yellow) brush on the bowl., Scene Distractors=banana, yellow marker, Training Scenes=1002026.03 | 100 | 100 | — | — | 9.5 | |
| PPOFlowScene=6, Language Command=put the white eraser on the mug., Scene Distractors=pink eraser, black pen, blue pen, Training Scenes=1002026.03 | 100 | 70 | 30 | 0 | 11.1 | |
| PPOFlowScene=11, Language Command=put the blue teacup on the yellow teacup., Scene Distractors=purple teacup, pink teapot, blue plate, yellow plate, Training Scenes=1002026.03 | 100 | 50 | 50 | 0 | 11 | |
| PPOFlowScene=0, Language Command=put the banana on the bowl., Scene Distractors=broccoli, strawberry, plate, Training Scenes=1002026.03 | 90 | 90 | 10 | 0 | 7.4 | |
| PPOFlowScene=2, Language Command=put the mushroom on the bowl., Scene Distractors=banana, broccoli, plate, Training Scenes=1002026.03 | 90 | 90 | 10 | 0 | 8.4 | |
| PPOFlowScene=8, Language Command=put the blue pen on the (blue) bowl., Scene Distractors=black pen, white eraser, basket, Training Scenes=1002026.03 | 90 | 70 | 20 | 10 | 12.2 | |
| PPOFlowScene=All, Training Scenes=1002026.03 | 88.3 | 75 | 18.3 | 6.7 | 10.2 | |
| Imitation baseline πpreScene=0, Language Command=put the banana on the bowl., Scene Distractors=broccoli, strawberry, plate2026.03 | 80 | 60 | 40 | 0 | 10.7 | |
| PPOFlowScene=3, Language Command=put the spoon on the napkin., Scene Distractors=fork, plate, Training Scenes=1002026.03 | 80 | 70 | 10 | 20 | 12.2 | |
| PPOFlowScene=7, Language Command=put the red knife on the cutting board., Scene Distractors=regular knife, Training Scenes=1002026.03 | 80 | 80 | 0 | 20 | 12.2 | |
| Imitation baseline πpreScene=7, Language Command=put the red knife on the cutting board., Scene Distractors=regular knife2026.03 | 70 | 20 | 20 | 60 | 14.6 | |
| PPOFlowScene=9, Language Command=put the green marker on the basket., Scene Distractors=red marker, yellow marker, dry erase eraser, cardboard box, Training Scenes=1002026.03 | 70 | 60 | 40 | 0 | 8.8 | |
| Imitation baseline πpreScene=5, Language Command=put the (yellow) brush on the bowl., Scene Distractors=banana, yellow marker2026.03 | 60 | 30 | 70 | 0 | 10.5 | |
| Imitation baseline πpreScene=9, Language Command=put the green marker on the basket., Scene Distractors=red marker, yellow marker, dry erase eraser, cardboard box2026.03 | 60 | 30 | 60 | 10 | 9.2 | |
| PPOFlowScene=10, Language Command=put the screwdriver on the basket., Scene Distractors=knife, black marker, Training Scenes=1002026.03 | 60 | 50 | 20 | 30 | 10.4 | |
| Imitation baseline πpreScene=11, Language Command=put the blue teacup on the yellow teacup., Scene Distractors=purple teacup, pink teapot, blue plate, yellow plate2026.03 | 50 | 20 | 50 | 60 | 11.6 | |
| Imitation baseline πpreScene=All2026.03 | 45 | 21.7 | 66.7 | 18.3 | 11.5 | |
| Imitation baseline πpreScene=1, Language Command=put the broccoli on the mug., Scene Distractors=knife, cutting board2026.03 | 40 | 20 | 80 | 0 | 13.3 | |
| Imitation baseline πpreScene=4, Language Command=put the (pink) eraser on the notebook., Scene Distractors=black pen, mug2026.03 | 40 | 30 | 70 | 10 | 11 | |
| Imitation baseline πpreScene=6, Language Command=put the white eraser on the mug., Scene Distractors=pink eraser, black pen, blue pen2026.03 | 40 | 20 | 80 | 0 | 7.8 | |
| Imitation baseline πpreScene=2, Language Command=put the mushroom on the bowl., Scene Distractors=banana, broccoli, plate2026.03 | 30 | 10 | 90 | 0 | 11.5 | |
| Imitation baseline πpreScene=8, Language Command=put the blue pen on the (blue) bowl., Scene Distractors=black pen, white eraser, basket2026.03 | 30 | 10 | 90 | 0 | 29.6 | |
| Imitation baseline πpreScene=3, Language Command=put the spoon on the napkin., Scene Distractors=fork, plate2026.03 | 20 | 10 | 70 | 50 | 6.1 | |
| Imitation baseline πpreScene=10, Language Command=put the screwdriver on the basket., Scene Distractors=knife, black marker2026.03 | 20 | 0 | 80 | 30 | — |