Robotic Manipulation on MimicGen (D0/D1 Success Breakdown)
94Success Rate (C, D0)Phoenix
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Phoenix2026.03 | 94 | 48 | 96 | 86 | 50 | 20 | 68 | 52 | 6 | 58 | |
| LaDA2026.03 | 94 | 46 | 96 | 95 | 76 | 71 | 48 | 50 | 25 | 67 | |
| Subgoal self-reflection2026.03 | 80 | 32 | 88 | 78 | 32 | 6 | 80 | 34 | 2 | 48 | |
| CLIP-RT*2026.03 | 77 | 34 | 93 | 87 | 68 | 52 | 32 | 11 | 4 | 51 | |
| Subgoal-conditioned2026.03 | 76 | 26 | 88 | 74 | 24 | 6 | 78 | 20 | 2 | 44 | |
| Motion-conditioned2026.03 | 68 | 32 | 92 | 84 | 38 | 16 | 58 | 30 | 4 | 47 | |
| Task-conditioned2026.03 | 66 | 24 | 88 | 68 | 30 | 6 | 74 | 20 | 0 | 42 | |
| OpenVLA2026.03 | 42 | 18 | 84 | 86 | 36 | 20 | 20 | 28 | 8 | 38 |