Robot Manipulation on MetaWorld Very Hard 5 tasks
85.8Success RatePRISM
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| PRISMNFE=12026.02 | 85.8 | — | — | — | — | — | |
| FocalPolicyNFE=12026.05 | 85.1 | — | — | — | — | — | |
| FlowPolicy*NFE=12026.02 | 80 | — | — | — | — | — | |
| DP3*NFE=102026.05 | 78.1 | — | — | — | — | — | |
| FlowPolicy*NFE=12026.05 | 77.9 | — | — | — | — | — | |
| IMLENFE=12026.02 | 76 | — | — | — | — | — | |
| DP3*NFE=102026.02 | 75.8 | — | — | — | — | — | |
| FreqPolicy*NFE=-2026.05 | 74.4 | — | — | — | — | — | |
| SDMNFE=12026.02 | 71.6 | — | — | — | — | — | |
| SDMNFE=12026.05 | 71.6 | — | — | — | — | — | |
| ManiCMNFE=12026.02 | 67 | — | — | — | — | — | |
| MainCMNFE=12026.05 | 67 | — | — | — | — | — | |
| MGP-Longhorizon=Long2025.12 | 58.6 | 29 | 86 | 45 | 100 | 33 | |
| MGP-w/o SMmask=without score-based mask2025.12 | 57.2 | 28 | 83 | 44 | 100 | 31 | |
| MGP-Shorthorizon=Short2025.12 | 53.8 | 20 | 74 | 50 | 90 | 35 | |
| DP32025.12 | 49 | 17 | 69 | 27 | 97 | 35 | |
| MGP-Full Seq.Sequence=Full2025.12 | 38.6 | 19 | 75 | 12 | 72 | 15 | |
| FlowMatching Policy*NFE=12026.02 | 36 | — | — | — | — | — | |
| DP3-Full Seq.Sequence=Full2025.12 | 35 | 15 | 63 | 10 | 67 | 20 | |
| AdaFlow*NFE=12026.02 | 32.3 | — | — | — | — | — | |
| Diffusion PolicyNFE=102026.02 | 26.6 | — | — | — | — | — | |
| DPNFE=102026.05 | 26.6 | — | — | — | — | — |