Robot Manipulation on MetaWorld General Gripper MuJoCo-based (test)
84.7Disassemble Success Rate3D FM + DALI-R
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| 3D FM + DALI-RInput Modality=3D Point Cloud, Policy Backbone=Flow Matching, Reranking=DALI-R (latent reranking), Episodes=100, Seeds=32026.05 | 84.7 | 56.3 | 50.7 | 71.3 | |
| 3D DP + DALI-RInput Modality=3D Point Cloud, Policy Backbone=Diffusion, Reranking=DALI-R (latent reranking), Episodes=100, Seeds=32026.05 | 79 | 53.3 | 53 | 69.3 | |
| 3D Flow Matching PolicyInput Modality=3D Point Cloud, Policy Backbone=Flow Matching, Reranking=None, Episodes=100, Seeds=32026.05 | 76.3 | 49.3 | 48.7 | 63.3 | |
| 3D Diffusion PolicyInput Modality=3D Point Cloud, Policy Backbone=Diffusion, Reranking=None, Episodes=100, Seeds=32026.05 | 67.7 | 46.7 | 49.3 | 61.7 | |
| Diffusion PolicyInput Modality=2D, Policy Backbone=Diffusion, Reranking=None, Episodes=100, Seeds=32026.05 | 56.3 | 32.7 | 48 | 54.3 |