Robotic Manipulation on MimicGen SE(2)
100Stack (D1) Success RateSDP
Evaluation Results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SDPCtrl=Rel, Obs=PCD2025.07 | 100 | 98 | 62 | 60 | 63 | 67 | 82 | 54 | 89 | 92 | 73 | 73 | 76 | |
| EquiDiffCtrl=Abs, Obs=Voxel2025.07 | 99 | 75 | 39 | 39 | 65 | 37 | 70 | 53 | 85 | 67 | 58 | 80 | 64 | |
| EquiDiffCtrl=Vel, Obs=Voxel2025.07 | 95 | 59 | 25 | 33 | 55 | 5 | 64 | 39 | 69 | 53 | 40 | 48 | 49 | |
| EquiDiffCtrl=Abs, Obs=RGB2025.07 | 93 | 55 | 25 | 22 | 60 | 15 | 65 | 49 | 67 | 74 | 42 | 77 | 54 | |
| DiffPo-CCtrl=Vel, Obs=RGB2025.07 | 81 | 26 | 6 | 13 | 43 | 2 | 43 | 25 | 42 | 42 | 35 | 42 | 33 | |
| DiffPo-CCtrl=Abs, Obs=RGB2025.07 | 76 | 38 | 8 | 17 | 44 | 4 | 52 | 43 | 67 | 55 | 35 | 65 | 42 | |
| EquiDiffCtrl=Vel, Obs=RGB2025.07 | 75 | 25 | 11 | 11 | 41 | 1 | 49 | 29 | 61 | 44 | 29 | 49 | 35 | |
| DP3Ctrl=Abs, Obs=PCD2025.07 | 69 | 7 | 7 | 12 | 34 | 0 | 54 | 21 | 45 | 16 | 12 | 10 | 24 | |
| BC RNNCtrl=Vel, Obs=RGB2025.07 | 59 | 12 | 8 | 7 | 37 | 0 | 32 | 19 | 31 | 35 | 21 | 14 | 23 | |
| DiffPo-TCtrl=Abs, Obs=RGB2025.07 | 51 | 17 | 5 | 11 | 47 | 1 | 48 | 30 | 54 | 31 | 15 | 38 | 29 | |
| ACTCtrl=Abs, Obs=RGB2025.07 | 35 | 6 | 6 | 10 | 19 | 0 | 38 | 23 | 37 | 42 | 7 | 32 | 21 |