Robot Manipulation on RoboMimic ph
100Lift Success RateDiffusion Policy
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Diffusion Policy2026.05 | 100 | 99.2 | 93.5 | 85.9 | 77.2 | 91.2 | |
| ENERGYFLOW2026.05 | 100 | 100 | 95.3 | 89.4 | 84.2 | 93.8 | |
| Flow Policy2026.05 | 99.6 | 98.4 | 91.8 | 83.6 | 74.8 | 89.6 | |
| ResNet+SSPoolPolicy=Flow Matching, Encoder=Base.2026.06 | 99 | 90 | 77 | — | 4.7 | 67.7 | |
| LSTM-GMM2026.05 | 97.8 | 71.4 | 64.3 | 65.6 | 46 | 69 | |
| ResNet+SSPoolPolicy=Diffusion, Encoder=Base.2026.06 | 97 | 96 | 76 | — | 5.3 | 67.1 | |
| PRISMPolicy=Flow Matching, Encoder=PRISM2026.06 | 96.7 | 92.7 | 84.7 | — | 14 | 72 | |
| PRISMPolicy=Diffusion, Encoder=PRISM2026.06 | 96.7 | 96.7 | 77.3 | — | 12.7 | 70.9 | |
| EBT-Policy2026.05 | 96.2 | 88.6 | 78.4 | 72.4 | 58.6 | 78.8 | |
| IQ-Learn2026.05 | 95.2 | 82.6 | 68.8 | 58.4 | 44.2 | 69.8 | |
| NEAR2026.05 | 93.6 | 78.4 | 71.4 | 52.2 | 36.8 | 66.5 | |
| EBIL2026.05 | 92.4 | 76.8 | 58.2 | 48.6 | 32.4 | 61.7 | |
| Implicit BC2026.05 | 70.9 | 30.8 | 10.2 | 0 | 0 | 22.4 |