Robot Manipulation on RLBench (Subset including Unplug Charger and Open Fridge)
89.8Success Rate (Unplug Charger)CFM-Teacher
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| CFM-TeacherNumber of sampling steps=502026.03 | 89.8 | 79.8 | 99.1 | 43.8 | 40.2 | 81.8 | 78.2 | 80.2 | 74.1 | 8.6 | |
| FlowPolicyNumber of sampling steps=502026.03 | 85.7 | 53.3 | 97.1 | 29.7 | 37.3 | 78.4 | 70.2 | 62.8 | 64.3 | 9.97 | |
| CFM-StudentNumber of sampling steps=12026.03 | 84.1 | 73.8 | 97.9 | 35.2 | 36.9 | 76.2 | 69.8 | 75.1 | 68.6 | 123.5 | |
| PointFlowMatchNumber of sampling steps=502026.03 | 83.6 | 68.3 | 99.4 | 31.9 | 38.6 | 75.9 | 68.8 | 76 | 67.8 | 9.12 | |
| FlowPolicyNumber of sampling steps=12026.03 | 52.2 | 35.3 | 44.1 | 20.2 | 24.7 | 47.8 | 46.8 | 12.9 | 35.5 | 216.43 | |
| PointFlowMatchNumber of sampling steps=12026.03 | 46.3 | 37.4 | 54.1 | 17.8 | 21.6 | 49.8 | 59.2 | 16.1 | 37.8 | 207.12 | |
| IMLE PolicyNumber of sampling steps=12026.03 | 41.9 | 22.1 | 76.2 | 1.1 | 13.8 | 0 | 0.6 | 0.3 | 19.5 | 99.56 | |
| Diffusion PolicyNumber of sampling steps=502026.03 | 38 | 19.3 | 75.7 | 0 | 16 | 0 | 0.3 | 0 | 18.7 | 8.63 | |
| DP3Number of sampling steps=502026.03 | 33.3 | 76 | 98.3 | 4.3 | 12.3 | 0.3 | 3.7 | 0 | 28.5 | 8.02 | |
| Consistency PolicyNumber of sampling steps=12026.03 | 30.2 | 16.8 | 73.8 | 0.4 | 7.9 | 0 | 1.1 | 0 | 16.3 | 100.47 | |
| DP3Number of sampling steps=12026.03 | 13.2 | 25.2 | 35.1 | 3.3 | 4.6 | 0 | 1.4 | 0 | 10.4 | 220.06 | |
| Diffusion PolicyNumber of sampling steps=12026.03 | 5.1 | 3.1 | 2.1 | 0 | 4.2 | 0 | 0 | 0 | 1.8 | 95.07 |