Robotic Manipulation on MimicGen (Specific Skill Success Breakdown)
100Stack SuccessDP-C
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| DP-CArchitecture=244M U-Net, Training=Normal2025.11 | 100 | 55 | 73 | 47 | 95 | 54 | 17 | 67 | 63.6 | |
| DP-CArchitecture=244M U-Net, Training=Decoupled2025.11 | 100 | 50 | 71 | 39 | 86 | 58 | 25 | 69 | 62.2 | |
| DP-MLPArchitecture=5M MLP, Training=Normal2025.11 | 100 | 51 | 76 | 47 | 89 | 61 | 36 | 69 | 65.9 | |
| DP-MLPArchitecture=5M MLP, Training=Decoupled2025.11 | 100 | 41 | 63 | 41 | 77 | 63 | 33 | 73 | 61.2 | |
| DP-TArchitecture=Transformer, Training=Normal2025.11 | 97 | 41 | 74 | 29 | 83 | 65 | 29 | 66 | 60.4 | |
| DP-TArchitecture=Transformer, Training=Decoupled2025.11 | 62 | 5 | 2 | 5 | 25 | 28 | 3 | 25 | 19.4 |