Robot Manipulation on Non-Markovian Multi-task Dataset
70Spatial Success RateKeyframe-Chaining VLA
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Keyframe-Chaining VLASampling=Keyframes, History Length (Nh)=-, Sampling Interval (I)=-2026.03 | 70 | 98 | 100 | 100 | 92 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=402026.03 | 60 | 84 | 84 | 0 | 57 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=902026.03 | 28 | 52 | 50 | 8 | 35 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=602026.03 | 26 | 70 | 78 | 2 | 44 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=702026.03 | 24 | 40 | 32 | 2 | 25 | |
| Diffusion PolicySampling=Dense, History Length (Nh)=1, Sampling Interval (I)=12026.03 | 22 | 10 | 0 | 30 | 15.5 | |
| GR00T-N1.5 (No History)History Length (Nh)=0, Sampling Interval (I)=-2026.03 | 20 | 0 | 28 | 16 | 16 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=52026.03 | 20 | 80 | 32 | 30 | 40.5 | |
| GR00T-N1.5 (Short-term)Sampling=Dense, History Length (Nh)=2, Sampling Interval (I)=12026.03 | 18 | 52 | 12 | 0 | 20 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=102026.03 | 18 | 94 | 26 | 60 | 49.5 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=202026.03 | 18 | 94 | 22 | 74 | 52 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=502026.03 | 16 | 66 | 52 | 60 | 48.5 | |
| GR00T-N1.5 (Short-term)Sampling=Dense, History Length (Nh)=3, Sampling Interval (I)=12026.03 | 14 | 54 | 0 | 40 | 27 | |
| GR00T-N1.5 (Short-term)Sampling=Dense, History Length (Nh)=1, Sampling Interval (I)=12026.03 | 8 | 16 | 30 | 4 | 14.5 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=302026.03 | 6 | 38 | 44 | 14 | 25.5 | |
| π0Sampling=Dense, History Length (Nh)=0, Sampling Interval (I)=-2026.03 | 2 | 0 | 0 | 60 | 15.5 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=1002026.03 | 2 | 14 | 4 | 4 | 6 | |
| GR00T-N1.5 (Long-term)Sampling=Fixed Stride, History Length (Nh)=3, Sampling Interval (I)=802026.03 | 0 | 22 | 8 | 22 | 13 |