Robotic Manipulation on LIBERO-10 closed-loop success rates (1.5 backbone)
95.7Overall Success Rate (SR)Ghost PG + Persistent-z (Ensemble)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Ghost PG + Persistent-z (Ensemble)Phase=True, State=ODE, Persistent-z=True, Ensemble=5 seeds2026.06 | 95.7 | 95 | |
| Ghost PG (Ensemble, 5 seeds)Phase=True, State=ODE, Ensemble=5 seeds2026.06 | 86.5 | 80 | |
| Ghost PG + Persistent-zPhase=True, State=ODE, Persistent-z=True, Parameters=3.0M + 8K2026.06 | 82.5 | 73 | |
| Ghost PGPhase=True, State=ODE, Parameters=3.0M2026.06 | 81.5 | 65 | |
| GRU+PhasePhase=True, State=recurrent, Parameters=3.9M2026.06 | 75 | 70 | |
| Vanilla GhostPhase=False, State=ODE, Parameters=3.0M2026.06 | 71 | 40 | |
| MLP baselinePhase=False, State=None, Parameters=1.4M2026.06 | 68 | 35 | |
| MLP+PhasePhase=True, State=None, Parameters=1.4M2026.06 | 24.5 | 25 |