Robot Manipulation on MimicGen Stack Three D1
100Success RateE3Flow
Evaluation results
| Method | Links | |
|---|---|---|
| E3FlowExpert Demonstrations=100, Number of Seeds=32026.03 | 100 | |
| SDPDiffusion Sampler=DDPM, Expert Demonstrations=100, Number of Seeds=32026.03 | 98 | |
| SDPDiffusion Sampler=DDiM, Expert Demonstrations=100, Number of Seeds=32026.03 | 94 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 91.3 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 89.3 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=2002026.06 | 80.7 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 80 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=2002026.06 | 77.3 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 77.3 | |
| EquiDiffInput Modality=voxel, Expert Demonstrations=100, Number of Seeds=32026.03 | 76 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 73.3 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 68 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=2002026.06 | 68 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=2002026.06 | 62.7 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=2002026.06 | 58 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 57.3 | |
| EquiDiffInput Modality=img, Expert Demonstrations=100, Number of Seeds=32026.03 | 56 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=1002026.06 | 54.7 | |
| MirrorDiff. + OAction Controller=Delta, Number of Demos=502026.06 | 51.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=2002026.06 | 51.3 | |
| DiffPo. + M, O, PAction Controller=Delta, Number of Demos=502026.06 | 50.7 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 50 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=1002026.06 | 47.3 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=2002026.06 | 37.3 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=1002026.06 | 35.3 | |
| DPExpert Demonstrations=100, Number of Seeds=32026.03 | 32 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=1002026.06 | 31.3 | |
| DiffPo. + M, O, PAction Controller=Relative, Number of Demos=502026.06 | 29.3 | |
| MirrorDiff. + OAction Controller=Relative, Number of Demos=502026.06 | 28.7 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=1002026.06 | 25.3 | |
| EquiDiff. + OAction Controller=Delta, Number of Demos=502026.06 | 20.7 | |
| DiffPo. + O, PAction Controller=Delta, Number of Demos=502026.06 | 19.3 | |
| DiffPo. + O, PAction Controller=Relative, Number of Demos=502026.06 | 19.3 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=1002026.06 | 18 | |
| BC-RNN + M, O, PAction Controller=Relative, Number of Demos=502026.06 | 18 | |
| BC-RNNExpert Demonstrations=100, Number of Seeds=32026.03 | 8 | |
| DP3Expert Demonstrations=100, Number of Seeds=32026.03 | 8 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=2002026.06 | 8 | |
| EquiDiff. + OAction Controller=Relative, Number of Demos=502026.06 | 6.7 | |
| BC-RNN + O, PAction Controller=Relative, Number of Demos=502026.06 | 6.7 | |
| ACTExpert Demonstrations=100, Number of Seeds=32026.03 | 4 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=1002026.06 | 3.3 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=1002026.06 | 2 | |
| BC-RNN + O, PAction Controller=Delta, Number of Demos=502026.06 | 0.7 | |
| EquiBotExpert Demonstrations=100, Number of Seeds=32026.03 | 0 | |
| BC-RNN + M, O, PAction Controller=Delta, Number of Demos=502026.06 | 0 |