Robot Manipulation on MimicGen 3-Part Assembly D2
64Success RateDiffPo. + O, P
Evaluation results
| Method | Links | |
|---|---|---|
| DiffPo. + O, PAction Controller=Delta, Number of Demos=5002026.06 | 64 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=5002026.06 | 64 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=5002026.06 | 63 | |
| EquiDiff.Action Controller=Delta, Number of Demonstrations=5002026.06 | 63 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=5002026.06 | 61.3 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=5002026.06 | 61.3 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=5002026.06 | 61.3 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=5002026.06 | 61.3 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=5002026.06 | 50 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=5002026.06 | 50 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 49.3 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=2002026.06 | 49.3 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=5002026.06 | 48 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=5002026.06 | 48 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 47.3 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=2002026.06 | 47.3 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 39.3 | |
| EquiDiff.Action Controller=Delta, Number of Demonstrations=2002026.06 | 39.3 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=5002026.06 | 32 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=5002026.06 | 32 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=2002026.06 | 31.3 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=2002026.06 | 31.3 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 26.7 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=2002026.06 | 26.7 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 25.3 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=1002026.06 | 25.3 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 23.3 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=2002026.06 | 23.3 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=5002026.06 | 22.7 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=5002026.06 | 22.7 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=5002026.06 | 22 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=5002026.06 | 22 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 21 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=1002026.06 | 21 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 15.3 | |
| EquiDiff.Action Controller=Delta, Number of Demonstrations=1002026.06 | 15.3 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 13.3 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=2002026.06 | 13.3 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=1002026.06 | 13.3 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=2002026.06 | 13.3 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=5002026.06 | 12 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=5002026.06 | 12 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=5002026.06 | 11.3 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=5002026.06 | 11.3 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=1002026.06 | 11 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 11 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=1002026.06 | 11 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=1002026.06 | 11 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 8.7 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=2002026.06 | 8.7 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=5002026.06 | 6 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=5002026.06 | 6 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 4.7 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=2002026.06 | 4.7 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=1002026.06 | 4 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=1002026.06 | 4 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 3.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=2002026.06 | 3.3 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=2002026.06 | 3.3 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=2002026.06 | 3.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=1002026.06 | 2 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=1002026.06 | 2 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 1.3 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=1002026.06 | 1.3 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 1 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 1 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=1002026.06 | 1 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=1002026.06 | 1 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=1002026.06 | 0 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=2002026.06 | 0 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=1002026.06 | 0 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=2002026.06 | 0 |