Robotic Manipulation on RoboTwin 2.0 (Easy-Protocol)
26Hanging Mug Success RateChronos
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| ChronosNumber of Parameters=0.3B, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 26 | 95 | 67 | 54 | 86 | 68 | 78 | 86 | 70 | |
| RDT-1BNumber of Parameters=1.2B, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 23 | 6 | 51 | 21 | 64 | 19 | 77 | 25 | 35.8 | |
| DP3Number of Parameters=264.4M, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 17 | 48 | 57 | 60 | 85 | 67 | 72 | 70 | 59.5 | |
| π0Number of Parameters=3.3B, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 11 | 34 | 66 | 54 | 83 | 41 | 43 | 58 | 48.8 | |
| DPNumber of Parameters=96.8M, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 8 | 40 | 63 | 22 | 49 | 18 | 42 | 39 | 35.1 | |
| ACTNumber of Parameters=80.0M, Number of Demonstrations=50, Number of Evaluation Trials=1002026.06 | 7 | 16 | 48 | 27 | 68 | 1 | 56 | 22 | 30.6 |