Policy Composition on DexCompose 16 Composite Tasks 1.0
87.26Composite Success RateDexCompose
Evaluation results
| Method | Links | |
|---|---|---|
| DexComposeFirst Task=PickStick, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 87.26 | |
| DexComposeFirst Task=PickStick, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 86.54 | |
| DexComposeFirst Task=PickStick, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 86.3 | |
| DexComposeFirst Task=GraspBall, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 85.58 | |
| DexComposeFirst Task=PourMug, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 85.58 | |
| DexComposeFirst Task=PickCan, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 85.34 | |
| Decomposed Action SpaceFirst Task=PickStick, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 84.13 | |
| Decomposed Action SpaceFirst Task=PickStick, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 83.17 | |
| DexComposeFirst Task=GraspBall, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 82.69 | |
| DexCompose (Zero-Shot)First Task=PickStick, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 79.57 | |
| DexComposeFirst Task=PickCan, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 79.09 | |
| DexCompose (Zero-Shot)First Task=PourMug, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 78.61 | |
| DexCompose (Zero-Shot)First Task=PickStick, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 78.37 | |
| DexCompose (Zero-Shot)First Task=PickStick, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 77.88 | |
| DexCompose (Zero-Shot)First Task=PickCan, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 77.64 | |
| DexComposeFirst Task=Mean, Second Task=Mean, Number of seeds=8, Rollouts per seed=322026.06 | 77.43 | |
| DexCompose (Zero-Shot)First Task=GraspBall, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 76.92 | |
| Decomposed Action SpaceFirst Task=PickStick, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 76.92 | |
| Residual LearningFirst Task=PickStick, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 76.44 | |
| DexComposeFirst Task=PourMug, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 75.72 | |
| DexComposeFirst Task=PickStick, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 74.52 | |
| Residual LearningFirst Task=GraspBall, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 74.04 | |
| DexCompose (Zero-Shot)First Task=GraspBall, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 73.56 | |
| DexComposeFirst Task=GraspBall, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 73.08 | |
| DexCompose (Zero-Shot)First Task=PickCan, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 72.84 | |
| DexComposeFirst Task=PickCan, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 72.36 | |
| DexComposeFirst Task=GraspBall, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 71.88 | |
| Residual LearningFirst Task=PourMug, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 71.63 | |
| Residual LearningFirst Task=PickStick, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 71.15 | |
| DexCompose (Zero-Shot)First Task=Mean, Second Task=Mean, Number of seeds=8, Rollouts per seed=322026.06 | 69.23 | |
| Residual LearningFirst Task=PickCan, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 66.83 | |
| DexCompose (Zero-Shot)First Task=PourMug, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 66.59 | |
| DexCompose (Zero-Shot)First Task=PickStick, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 66.59 | |
| Residual LearningFirst Task=GraspBall, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 66.35 | |
| DexComposeFirst Task=PickCan, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 65.38 | |
| DexComposeFirst Task=PourMug, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 64.9 | |
| DexCompose (Zero-Shot)First Task=GraspBall, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 64.66 | |
| DexCompose (Zero-Shot)First Task=PickCan, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 64.42 | |
| DexCompose (Zero-Shot)First Task=GraspBall, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 63.94 | |
| Residual LearningFirst Task=GraspBall, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 63.46 | |
| DexComposeFirst Task=PourMug, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 62.74 | |
| Residual LearningFirst Task=Mean, Second Task=Mean, Number of seeds=8, Rollouts per seed=322026.06 | 61.6 | |
| Residual LearningFirst Task=PickStick, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 61.54 | |
| Decomposed Action SpaceFirst Task=PickStick, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 61.54 | |
| Residual LearningFirst Task=PourMug, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 58.65 | |
| DexCompose (Zero-Shot)First Task=PickCan, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 58.41 | |
| Residual LearningFirst Task=PickCan, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 56.73 | |
| Residual LearningFirst Task=GraspBall, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 55.29 | |
| DexCompose (Zero-Shot)First Task=PourMug, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 55.29 | |
| Residual LearningFirst Task=PickCan, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 55.29 | |
| Residual LearningFirst Task=PourMug, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 54.81 | |
| Residual LearningFirst Task=PickCan, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 53.85 | |
| DexCompose (Zero-Shot)First Task=PourMug, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 52.4 | |
| Residual LearningFirst Task=PourMug, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 50.96 | |
| Residual LearningFirst Task=PickStick, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 48.56 | |
| Decomposed Action SpaceFirst Task=Mean, Second Task=Mean, Number of seeds=8, Rollouts per seed=322026.06 | 45.61 | |
| Decomposed Action SpaceFirst Task=GraspBall, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 42.31 | |
| Decomposed Action SpaceFirst Task=PourMug, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 40.87 | |
| Decomposed Action SpaceFirst Task=PickCan, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 39.9 | |
| Decomposed Action SpaceFirst Task=GraspBall, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 38.94 | |
| Decomposed Action SpaceFirst Task=PourMug, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 36.54 | |
| Decomposed Action SpaceFirst Task=PickCan, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 35.58 | |
| Decomposed Action SpaceFirst Task=GraspBall, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 34.62 | |
| Decomposed Action SpaceFirst Task=PourMug, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 32.21 | |
| Decomposed Action SpaceFirst Task=GraspBall, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 31.73 | |
| Decomposed Action SpaceFirst Task=PickCan, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 31.25 | |
| Decomposed Action SpaceFirst Task=PourMug, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 30.29 | |
| Decomposed Action SpaceFirst Task=PickCan, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 29.81 | |
| Frozen GraspFirst Task=PickStick, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 21.15 | |
| Frozen GraspFirst Task=PourMug, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 9.13 | |
| Frozen GraspFirst Task=PickCan, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 8.65 | |
| Frozen GraspFirst Task=GraspBall, Second Task=PushButton, Number of seeds=8, Rollouts per seed=322026.06 | 7.69 | |
| Frozen GraspFirst Task=Mean, Second Task=Mean, Number of seeds=8, Rollouts per seed=322026.06 | 3.09 | |
| Frozen GraspFirst Task=PickStick, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 2.88 | |
| Frozen GraspFirst Task=GraspBall, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=GraspBall, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=GraspBall, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PourMug, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PourMug, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PourMug, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PickCan, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PickCan, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PickCan, Second Task=TurnOnSwitch, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PickStick, Second Task=OpenDoor, Number of seeds=8, Rollouts per seed=322026.06 | 0 | |
| Frozen GraspFirst Task=PickStick, Second Task=OpenMicrowave, Number of seeds=8, Rollouts per seed=322026.06 | 0 |