Pick-and-place (Rubik's Cube on Plate) on Franka Research 3 DROID setup (test)
92Solve RateAutoHorizon
Evaluation results
| Method | Links | |
|---|---|---|
| AutoHorizonbackbone VLA=π0.5, prediction horizon (p)=502026.02 | 92 | |
| Static Oracleexecution horizon (e)=10, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 81.5 | |
| Static Oracleexecution horizon (e)=40, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 81.5 | |
| Static Oracle+backbone VLA=π0.5, prediction horizon (p)=502026.02 | 81.5 | |
| Static Oracleexecution horizon (e)=30, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 74.5 | |
| Randombackbone VLA=π0.5, prediction horizon (p)=502026.02 | 60.5 | |
| Static Oracleexecution horizon (e)=20, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 54 | |
| Static Oracleexecution horizon (e)=50, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 51.5 | |
| Static Oracleexecution horizon (e)=5, backbone VLA=π0.5, prediction horizon (p)=502026.02 | 0 |