Robot Manipulation on MimicGen Square D2
70Success RateE3Flow
Evaluation results
| Method | Links | |
|---|---|---|
| E3FlowExpert Demonstrations=100, Number of Seeds=32026.03 | 70 | |
| SDPDiffusion Sampler=DDPM, Expert Demonstrations=100, Number of Seeds=32026.03 | 64 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=5002026.06 | 60 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=5002026.06 | 59.3 | |
| SDPDiffusion Sampler=DDiM, Expert Demonstrations=100, Number of Seeds=32026.03 | 58 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=5002026.06 | 58 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=5002026.06 | 56.7 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 49.3 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 48.7 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=5002026.06 | 48 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=5002026.06 | 47.3 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=5002026.06 | 45.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=5002026.06 | 45.3 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=5002026.06 | 44 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=5002026.06 | 43.3 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 41.3 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 41.3 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=2002026.06 | 40 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=5002026.06 | 40 | |
| EquiDiffInput Modality=voxel, Expert Demonstrations=100, Number of Seeds=32026.03 | 39 | |
| E3FlowEqu.=SE(3), Zero-shot transfer=true2026.03 | 34 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 32.7 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 32.7 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=5002026.06 | 32 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 32 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=2002026.06 | 30 | |
| SDPEqu.=SE(3), Zero-shot transfer=true2026.03 | 29 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 25.3 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 24.7 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 24 | |
| EquiDiffInput Modality=img, Expert Demonstrations=100, Number of Seeds=32026.03 | 22 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=1002026.06 | 20.7 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 20.7 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=2002026.06 | 19.3 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 18 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=1002026.06 | 18 | |
| EquiDiff (voxel)Equ.=SO(2), Zero-shot transfer=true2026.03 | 16 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 16 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 12.7 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 11.3 | |
| DPExpert Demonstrations=100, Number of Seeds=32026.03 | 10 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=2002026.06 | 9.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=1002026.06 | 8 | |
| BC-RNNExpert Demonstrations=100, Number of Seeds=32026.03 | 6 | |
| DP3Expert Demonstrations=100, Number of Seeds=32026.03 | 6 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 4.7 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=1002026.06 | 4 | |
| ACTExpert Demonstrations=100, Number of Seeds=32026.03 | 2 | |
| EquiBotExpert Demonstrations=100, Number of Seeds=32026.03 | 0 | |
| EquiBotEqu.=SIM(3), Zero-shot transfer=true2026.03 | 0 | |
| DPEqu.=N/A, Zero-shot transfer=true2026.03 | 0 |