Robot Manipulation on Mixed Human (MH)
100Success Rate (Lift)Diffusion Policy
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Diffusion Policyevaluation_variant=22025.12 | 100 | 97 | 79 | 46 | 81 | 100 | — | |
| SpeCaevaluation_variant=22025.12 | 100 | 90 | 68 | 40 | 75 | 37 | 2.7 | |
| Diffusion Policyevaluation_variant=12025.12 | 99 | 92 | 76 | 35 | 76 | 100 | — | |
| BACevaluation_variant=12025.12 | 99 | 95 | 77 | 30 | 75 | — | 3.41 | |
| TS-DPevaluation_variant=12025.12 | 99 | 92 | 74 | 34 | 75 | 26 | 3.84 | |
| TS-DPevaluation_variant=22025.12 | 99 | 97 | 78 | 62 | 84 | 26 | 3.84 | |
| Full PrecisionFLOPs=15.77G2025.06 | 99 | 92 | 76 | 35 | 76 | — | — | |
| Uniform(fast)FLOPs=3.15G, Speed ×=2.692025.06 | 99 | 91 | 80 | 24 | 76 | — | — | |
| BAC(S = 10)S=10, FLOPs=2.64G, Speed ×=3.412025.06 | 99 | 95 | 77 | 30 | 77 | — | — | |
| BACevaluation_variant=22025.12 | 98 | 97 | 79 | 46 | 80 | — | 3.41 | |
| SpeCaevaluation_variant=12025.12 | 96 | 86 | 76 | 34 | 73 | 35 | 2.86 | |
| BAC(S = 7)S=7, FLOPs=2.03G, Speed ×=3.482025.06 | 96 | 39 | 56 | 17 | 60 | — | — | |
| Uniform(fastest)FLOPs=2.72G, Speed ×=3.202025.06 | 95 | 65 | 73 | 1 | 64 | — | — | |
| Teacache(fast)FLOPs=5.25G, Speed ×=1.412025.06 | 79 | 97 | 76 | 50 | 73 | — | — | |
| Frozen Target Draftevaluation_variant=12025.12 | 66 | 60 | 50 | 20 | 49 | 34 | 2.94 | |
| Frozen Target Draftevaluation_variant=22025.12 | 62 | 54 | 62 | 42 | 55 | 33 | 3.03 | |
| Teacache(fastest)FLOPs=2.62G, Speed ×=3.442025.06 | 0 | 97 | 26 | 35 | 38 | — | — |