Robotic Manipulation Behavior Discovery on 8 Manipulation Benchmarks (test)
88.3Success RateGDNB
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GDNB2026.06 | 88.3 | 66.4 | 30.8 | 81.3 | 10 | 58.2 | |
| GDNB w/o rare samplerablation=without rare sampler2026.06 | 85.7 | 15.3 | 10 | 80.4 | 6.7 | 53.6 | |
| DPPO2026.06 | 79.6 | 50.3 | 27.6 | 68.9 | 6.9 | 48.3 | |
| Pretrained checkpointmode=direct rollout2026.06 | 77.9 | 65.6 | 24.4 | 89.3 | 6.5 | 40.8 | |
| GDNB w/o SBTOablation=without SBTO2026.06 | 77.8 | 26.5 | 10.2 | 70.9 | 4.2 | 51.2 | |
| SOE2026.06 | 76 | 66.1 | 21.6 | 92.7 | 2 | 52.4 | |
| SIME2026.06 | 75.2 | 66 | 26.2 | 92.3 | 3.3 | 55.5 | |
| MimicGen2026.06 | 75.1 | 64 | 24.6 | 85.5 | 2.7 | 52.8 | |
| DSRL2026.06 | 74.4 | 67.9 | 23.8 | 90.3 | 2.2 | 53.4 |