Robotic Manipulation on MetaWorld In-Distribution (ID)
100Button PressDP3
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DP3Condition=Base Policy (ID)2026.03 | 100 | — | 99 | 100 | 100 | 100 | 95 | 94 | 35 | 100 | 92.3 | 89.8 | |
| FlowPolicyCondition=Base Policy (ID)2026.03 | 100 | — | 100 | 100 | 100 | 98 | 96 | 95 | 53 | 100 | 94.2 | 89.3 | |
| DDPCondition=Base Policy (ID)2026.03 | 100 | — | 100 | 100 | 100 | 100 | 95 | 93 | 42 | 100 | 93 | 89.5 | |
| DDPImagination substitution rate=10%, Condition=Imagination Intervention (ID)2026.03 | 100 | — | 100 | 99 | 98 | 100 | 93 | 93 | 40 | 100 | 92.3 | 93 | |
| DDPImagination substitution rate=50%, Condition=Imagination Intervention (ID)2026.03 | 100 | — | 98 | 99 | 90 | 100 | 81 | 91 | 39 | 98 | 89.4 | 90.5 | |
| DDPExecution mode=Open-loop, Condition=Imagination Intervention (ID)2026.03 | 100 | — | 54 | 97 | 48 | 99 | 21 | 38 | 42 | 97 | 61.4 | 68.7 | |
| DINOv2Mode=frozen2026.01 | — | 73.8 | — | — | — | — | — | — | — | — | — | — | |
| DINOv2Mode=fine-tuned2026.01 | — | 71.8 | — | — | — | — | — | — | — | — | — | — | |
| STORMMode=Ours2026.01 | — | 74.8 | — | — | — | — | — | — | — | — | — | — |