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ResearchFormerly WizWand

Robot Manipulation on MimicGen (Specific Skill Success Rates)

100Coffee Success RateHIFLOW

Evaluation results

Method	Links
HIFLOW2026.03		100	100	76	80	82	98	76	90	88
CARP2026.03		86	98	74	78	90	100	82	70	85
CSP2026.06		83.8	—	—	—	48.8	92.5	56.3	46.3	65.5
Spectral Policy (Ours)2026.06		82.5	—	—	—	45	75	42.5	42.5	57.5
Action Binning2026.06		82.5	—	—	—	47.5	81.3	60	17.5	57.8
SDP2026.03		82	100	62	54	82	96	80	70	78
TCD2026.03		77	92	53	44	63	95	62	56	68
Action Binning2026.06		76.3	—	—	—	46.3	82.5	56.3	15	55.3
ACT2026.06		72.5	—	—	—	37.5	81.3	45	21.3	51.5
BAKU2026.06		70	—	—	—	31.3	86.3	35	26.3	49.8
Freq-Autoregressive2026.06		67.5	—	—	—	27.5	85	32.5	28.8	48.3
Freq-Autoregressive2026.06		67.5	—	—	—	43.8	88.8	45	42.5	57.5
CSP2026.06		61.3	—	—	—	43.8	72.5	33.8	38.8	50
DP-CNN2026.06		58.8	—	—	—	52.5	88.8	58.8	33.8	58.5
DP-Transformer2026.06		58.8	—	—	—	38.8	82.5	52.5	36.3	53.8
ACT2026.06		56.3	—	—	—	27.5	40	16.3	6.3	29.3
DP-Transformer2026.06		51.3	—	—	—	27.5	90	38.8	25	46.5
Freq-Autoregressive2026.06		48.8	—	—	—	16.3	77.5	10	7.5	32
Action Binning2026.06		47.5	—	—	—	23.8	62.5	17.5	7.5	31.8
DP-CNN2026.06		45	—	—	—	40	83.8	40	52.5	52.3
DP-CNN2026.06		35	—	—	—	36.3	73.8	31.3	32.5	41.8
BAKU2026.06		32.5	—	—	—	26.3	67.5	17.5	7.5	30.3
DP-Transformer2026.06		26.3	—	—	—	21.3	65	21.3	22.5	31.3
ACT2026.06		21.3	—	—	—	3.8	0	15	5	9
BAKU2026.06		8.8	—	—	—	15	48.8	5	8.8	17.3