Robotic Manipulation on RLBench standard (test)
100Reach Target Success RatePerAct + Planner
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PerAct + PlannerHigh-level agent=PerAct, Low-level agent=Motion Planner2024.03 | 100 | 100 | 86 | 0 | 0 | 64 | 68 | 54 | 32 | 0 | 76 | 57.72 | — | |
| PerAct + DiffuserHigh-level agent=PerAct, Low-level agent=Diffuser2024.03 | 100 | 94 | 84 | 80 | 82 | 88 | 84 | 82 | 20 | 18 | 52 | 71.27 | — | |
| HDPHigh-level agent=PerAct, Low-level agent=RK-Diffuser2024.03 | 100 | 96 | 82 | 86 | 90 | 94 | 90 | 88 | 26 | 58 | 72 | 80.18 | — | |
| VLMimicType of demos=Video, Num of demos=52024.10 | 97 | 94 | 80 | 76 | 75 | 90 | 75 | 81 | 45 | 43 | 76 | 76 | 79 | |
| PerAct + Planner + BezierHigh-level agent=PerAct, Low-level agent=Motion Planner + Bezier2024.03 | 96 | 100 | 72 | 80 | 8 | 48 | 84 | 76 | 20 | 4 | 36 | 56.73 | — | |
| CaPType of demos=Template, Num of demos=52024.10 | 95 | 90 | 58 | 5 | 12 | 65 | 17 | 46 | 12 | 16 | 78 | 44 | 35 | |
| Demo2CodeType of demos=Video, Num of demos=52024.10 | 94 | 86 | 65 | 6 | 19 | 83 | 22 | 40 | 14 | 21 | 79 | 49 | 57 | |
| ACT2024.03 | 50 | 45 | 46 | 6 | 12 | 5 | 26 | 1 | 11 | 0 | 0 | 18.36 | — | |
| Diffusion Policy2024.03 | 43 | 25 | 24 | 5 | 4 | 22 | 28 | 9 | 7 | 0 | 0 | 15.18 | — | |
| DPType of demos=Obs-act, Num of demos=1002024.10 | 43 | 25 | 24 | 5 | 4 | 22 | 28 | 9 | 7 | 0 | 0 | 15 | 17 | |
| GraphIRLType of demos=Video, Num of demos=1002024.10 | 39 | 14 | 23 | 3 | 3 | 21 | 18 | 4 | 4 | 2 | 0 | 12 | 16 | |
| R3M-DPType of demos=Obs-act, Num of demos=1002024.10 | 37 | 20 | 20 | 7 | 2 | 25 | 25 | 7 | 3 | 0 | 0 | 13 | 15 |