Robotic Insertion on Cobot Mobile ALOHA In-distribution (train)
100Task 1 Success RateSPOT
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SPOTDemonstrations per task=10, Implementation=Re-implemented with MLP encoder and diffusion policy backbone2025.05 | 100 | 70 | 90 | 90 | 70 | 10 | 71.7 | |
| PoseDPDemonstrations per task=10, Policy Type=Pose-Only Diffusion Policy2025.05 | 100 | 100 | 90 | 100 | 70 | 30 | 81.7 | |
| RPDPDemonstrations per task=10, Policy Type=Gated RGBD-Augmented Pose Diffusion Policy2025.05 | 100 | 100 | 90 | 90 | 70 | 100 | 91.7 | |
| RISEDemonstrations per task=502025.05 | 20 | 0 | 0 | 0 | 0 | 0 | 3.3 | |
| ACTDemonstrations per task=502025.05 | 10 | 0 | 0 | 0 | 0 | 0 | 1.7 |