Robot grasp-and-place on DROID (real-robot evaluation)
93.3Success Rate (Cucumber to Plate)Pion
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| PionOptimizer=Pion, Backbone=π0.5, Trials=30 randomized initial configurations2026.05 | 93.3 | 83.3 | 80 | 85.6 | |
| MuonOptimizer=Muon, Backbone=π0.5, Trials=30 randomized initial configurations2026.05 | 56.7 | 33.3 | 26.7 | 38.9 | |
| AdamWOptimizer=AdamW, Backbone=π0.5, Trials=30 randomized initial configurations2026.05 | 40 | 33.3 | 20 | 31.1 |