Robotic Manipulation on Drawers
42Success RateDiSCo
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| DiSCoPolicy=DiSCo2026.03 | 42 | 92 | 82 | 88.64 | 0.74 | 3.08 | 2.94 | 2.99 | — | |
| No CopilotPolicy=No Copilot2026.03 | 28 | 89 | 67 | 93.03 | 9.11 | 2.66 | 2.82 | 3.16 | — | |
| HATS (Hybrid) + DPPolicy=DP [38], Setting=Ours (Hyb.)2026.06 | 15 | — | — | — | — | — | — | — | 84.2 | |
| HATS (Hybrid) + DP3Policy=DP3 [39], Setting=Ours (Hyb.)2026.06 | 15 | — | — | — | — | — | — | — | 84.2 | |
| HATS (Centralized) + DPPolicy=DP [38], Setting=Ours (Cen.)2026.06 | 5 | — | — | — | — | — | — | — | 68.3 | |
| 3D Diffusion Policy (DP3)Setting=Dual-Human2026.06 | 5 | — | — | — | — | — | — | — | 66.7 | |
| State-Based CopilotPolicy=State-Based Copilot2026.03 | 0 | 52 | 27 | 98.91 | 1 | 1.68 | 1.66 | 1.77 | — | |
| Diffusion Policy (DP)Setting=Full-Agent2026.06 | 0 | — | — | — | — | — | — | — | 0 | |
| Diffusion Policy (DP)Setting=Dual-Human2026.06 | 0 | — | — | — | — | — | — | — | 65 | |
| 3D Diffusion Policy (DP3)Setting=Full-Agent2026.06 | 0 | — | — | — | — | — | — | — | 0 | |
| HATS (Centralized) + DP3Policy=DP3 [39], Setting=Ours (Cen.)2026.06 | 0 | — | — | — | — | — | — | — | 65 |