Robot Manipulation on Robomimic image observation
89.6Square Success Rate (PH)WP-Preview
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| WP-PreviewNFE=3, Horizon=82026.05 | 89.6 | 77.1 | 94.9 | 80.7 | 50.7 | — | — | — | — | — | — | |
| WP-PastNFE=1, Horizon=82026.05 | 89.3 | 77.6 | 93.4 | 78.6 | 38.9 | — | — | — | — | — | — | |
| WP-PastNFE=3, Horizon=82026.05 | 89.2 | 77.9 | 93.9 | 80 | 38.4 | — | — | — | — | — | — | |
| WP-PreviewNFE=1, Horizon=82026.05 | 89.1 | 75.1 | 93.7 | 79.7 | 54 | — | — | — | — | — | — | |
| WP-PreviewNFE=9, Horizon=82026.05 | 88.7 | 77.8 | 94.3 | 79.8 | 56.3 | — | — | — | — | — | — | |
| BaseNFE=1, Horizon=82026.05 | 88.7 | 72.4 | 91.3 | 74.3 | 41.3 | — | — | — | — | — | — | |
| WP-PastNFE=9, Horizon=82026.05 | 88.2 | 78 | 94.5 | 79.7 | 45.8 | — | — | — | — | — | — | |
| BaseNFE=3, Horizon=82026.05 | 87.7 | 73.8 | 92.1 | 73.8 | 36.9 | — | — | — | — | — | — | |
| BaseNFE=9, Horizon=82026.05 | 86.9 | 76.1 | 92.8 | 74.8 | 43.7 | — | — | — | — | — | — | |
| CoA-fwdbackbone=Diffusion Policy UNet, observation setting=image observation2026.05 | — | — | — | — | — | 100 | 87.3 | 32.7 | 42.7 | 65.7 | 211.9 | |
| CoA-revbackbone=Diffusion Policy UNet, observation setting=image observation2026.05 | — | — | — | — | — | 96 | 88 | 42 | 63.3 | 72.3 | 211.8 | |
| SkiPbackbone=Diffusion Policy UNet, observation setting=image observation2026.05 | — | — | — | — | — | 100 | 82.7 | 67.3 | 58.7 | 77.2 | 144.1 | |
| SkiP†backbone=Diffusion Policy UNet, observation setting=image observation, variant=VLM-derived key segments (Gemini-2.5-Pro)2026.05 | — | — | — | — | — | 1.3 | 23.3 | 24.7 | 0 | 12.3 | 88.6 |