Robotic Manipulation on Metaworld v2 (test)
100Window Open Success RateRT-1
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RT-12024.11 | 100 | 88 | 100 | 56 | 56 | 100 | 8 | 12 | 100 | 0 | 0 | 0 | 8 | 0 | 0 | 0 | 0 | 0 | 0 | 34.6 | — | — | — | — | |
| RT-2*2024.11 | 100 | 100 | 84 | 92 | 96 | 96 | 88 | 76 | 96 | 40 | 24 | 8 | 68 | 20 | 12 | 32 | 20 | 12 | 0 | 52.2 | — | — | — | — | |
| GR-12024.11 | 100 | 100 | 84 | 100 | 100 | 96 | 88 | 100 | 100 | 60 | 64 | 8 | 52 | 48 | 24 | 48 | 28 | 60 | 44 | 57.4 | — | — | — | — | |
| PADvariant=w/o img2024.11 | 100 | 100 | 92 | 100 | 88 | 92 | 16 | 92 | 100 | 12 | 4 | 44 | 40 | 48 | 16 | 36 | 16 | 24 | 16 | 43.6 | — | — | — | — | |
| PADvariant=w/o co-train2024.11 | 96 | 100 | 92 | 100 | 92 | 92 | 48 | 92 | 96 | 72 | 32 | 28 | 32 | 72 | 92 | 68 | 56 | 88 | 40 | 59.2 | — | — | — | — | |
| PADprediction horizon (k)=3, interval between frames=42024.11 | 92 | 100 | 92 | 100 | 100 | 92 | 72 | 100 | 100 | 88 | 88 | 84 | 80 | 80 | 68 | 92 | 72 | 96 | 88 | 72.5 | — | — | — | — | |
| MOVEData Collection Paradigm=Dynamic (MOVE)2025.12 | 70.5 | — | — | — | — | — | — | — | — | — | 13.1 | 9.9 | — | 30.9 | — | 29.8 | — | 41 | — | 39.1 | 67.3 | 41.7 | 41.8 | 44.7 | |
| SuSIE2024.11 | 68 | 96 | 32 | 60 | 68 | 56 | 68 | 92 | 96 | 32 | 40 | 24 | 32 | 4 | 24 | 24 | 8 | 16 | 16 | 41 | — | — | — | — | |
| Diffusion Policyinstruction-conditioned=true, encoder=CLIP2024.11 | 60 | 92 | 16 | 36 | 32 | 76 | 60 | 72 | 36 | 12 | 20 | 8 | 0 | 8 | 16 | 36 | 0 | 0 | 0 | 27.9 | — | — | — | — | |
| StaticData Collection Paradigm=Static2025.12 | 51.2 | — | — | — | — | — | — | — | — | — | 7.2 | 1.1 | — | 15.6 | — | 6.6 | — | 16.3 | — | 22.2 | 31.7 | 35.1 | 28.9 | 27.9 | |
| ADCData Collection Paradigm=Periodic Reset2025.12 | 45.5 | — | — | — | — | — | — | — | — | — | 5.3 | 2.5 | — | 25.2 | — | 23.7 | — | 33.5 | — | 27.6 | 47.2 | 38.3 | 34.5 | 20.7 |