Robotic Manipulation Success on GAPartNet
100Dishwasher Door Success (Deterministic)Traj. tracking
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Traj. trackingDamping Multiplier=×12026.06 | 100 | — | 100 | — | 100 | — | 100 | — | 100 | — | 100 | — | 100 | — | 100 | — | |
| Traj. trackingDamping Multiplier=×22026.06 | 100 | — | 100 | — | 100 | — | 0 | — | 100 | — | 100 | — | 0 | — | 71 | — | |
| Traj. trackingDamping Multiplier=×42026.06 | 100 | — | 100 | — | 100 | — | 0 | — | 100 | — | 100 | — | 0 | — | 71 | — | |
| Parallel-JawDamping Multiplier=×12026.06 | 100 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 14 | — | |
| Parallel-JawDamping Multiplier=×22026.06 | 100 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 14 | — | |
| Parallel-JawDamping Multiplier=×42026.06 | 100 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 0 | — | 14 | — | |
| State-only PPODamping Multiplier=×12026.06 | 100 | 95 | 10 | 20 | 0 | 0 | 100 | 20 | 95 | 90 | 100 | 85 | 0 | 0 | 58 | 44 | |
| Transformer-PPODamping Multiplier=×12026.06 | 100 | 65 | 0 | 0 | 0 | 0 | 0 | 0 | 45 | 20 | 85 | 70 | 15 | 20 | 35 | 25 | |
| PICADamping Multiplier=×12026.06 | 100 | 100 | 100 | 100 | 85 | 90 | 90 | 55 | 100 | 75 | 95 | 85 | 55 | 70 | 89 | 82 | |
| PICADamping Multiplier=×22026.06 | 100 | 95 | 90 | 90 | 80 | 70 | 65 | 45 | 100 | 70 | 70 | 80 | 55 | 55 | 80 | 72 | |
| State-only PPODamping Multiplier=×22026.06 | 95 | 50 | 10 | 10 | 0 | 0 | 5 | 10 | 100 | 95 | 95 | 80 | 0 | 0 | 44 | 35 | |
| PICADamping Multiplier=×42026.06 | 95 | 95 | 100 | 95 | 60 | 65 | 25 | 0 | 85 | 15 | 10 | 30 | 15 | 0 | 56 | 43 | |
| Transformer-PPODamping Multiplier=×22026.06 | 90 | 25 | 0 | 5 | 0 | 0 | 0 | 0 | 40 | 25 | 15 | 10 | 15 | 15 | 23 | 11 | |
| GRU-PPODamping Multiplier=×12026.06 | 60 | 15 | 20 | 10 | 100 | 90 | 0 | 0 | 100 | 100 | 50 | 75 | 30 | 15 | 51 | 44 | |
| Flat-history PPODamping Multiplier=×12026.06 | 10 | 10 | 100 | 90 | 5 | 45 | 25 | 25 | 65 | 20 | 0 | 5 | 95 | 45 | 43 | 34 | |
| State-only PPODamping Multiplier=×42026.06 | 0 | 5 | 10 | 10 | 0 | 0 | 0 | 0 | 85 | 85 | 95 | 80 | 0 | 0 | 27 | 26 | |
| Flat-history PPODamping Multiplier=×22026.06 | 0 | 0 | 100 | 70 | 40 | 35 | 0 | 0 | 65 | 5 | 0 | 20 | 45 | 5 | 36 | 19 | |
| Flat-history PPODamping Multiplier=×42026.06 | 0 | 0 | 100 | 80 | 50 | 30 | 0 | 0 | 75 | 20 | 0 | 20 | 0 | 0 | 32 | 21 | |
| GRU-PPODamping Multiplier=×22026.06 | 0 | 0 | 0 | 5 | 100 | 95 | 0 | 0 | 100 | 85 | 0 | 0 | 30 | 5 | 33 | 27 | |
| GRU-PPODamping Multiplier=×42026.06 | 0 | 0 | 0 | 5 | 100 | 100 | 0 | 0 | 100 | 90 | 0 | 0 | 10 | 0 | 30 | 28 | |
| Transformer-PPODamping Multiplier=×42026.06 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 60 | 25 | 0 | 0 | 0 | 0 | 9 | 4 |