Pick-and-place (Rubik's Cube into Bowl) on Franka Research 3 DROID (test)
99Solve RateAutoHorizon
Evaluation results
| Method | Links | |
|---|---|---|
| AutoHorizonbackbone VLA=π0.5, prediction horizon (p)=502026.02 | 99 | |
| Static Oracleexecution horizon (e)=10, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 97.5 | |
| Static Oracle+backbone VLA=π0.5, prediction horizon (p)=502026.02 | 97.5 | |
| Static Oracleexecution horizon (e)=20, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 89.5 | |
| Static Oracleexecution horizon (e)=30, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 87.5 | |
| Randombackbone VLA=π0.5, prediction horizon (p)=502026.02 | 77 | |
| Static Oracleexecution horizon (e)=5, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 76 | |
| Static Oracleexecution horizon (e)=50, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 58.5 | |
| Static Oracleexecution horizon (e)=40, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 56.5 |