Pour Water on Real-robot tabletop tasks 15 rollouts
46.7Success RateSkiP
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SkiPBackbone=π0.5, Fine-tuning protocol=SkiP's relabeling objective, Number of rollouts=152026.05 | 46.7 | 265.4 | 180 | |
| BaseBackbone=π0.5, Fine-tuning protocol=standard behavior cloning, Number of rollouts=152026.05 | 40 | 290.4 | 180 | |
| CoABackbone=π0.5, Fine-tuning protocol=Chain-of-Action, Number of rollouts=152026.05 | 33.3 | 281.9 | 180 | |
| KF-onlyBackbone=π0.5, Fine-tuning protocol=keyframe-only prediction, Number of rollouts=152026.05 | 6.7 | 309.6 | 240 |