Robotic Manipulation Success Rate Breakdown on DexArt
67.7Success Rate (Bucket)KoopmanFlow
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| KoopmanFlowObs.=PC2026.03 | 67.7 | 98.3 | 60.7 | 89.7 | 79.1 | |
| ReV2026.04 | 61 | 87 | — | 71 | — | |
| DP3NFE=10, Source=Cited from DP3 [33]2026.05 | 46 | — | 63 | 82 | — | |
| OFPNFE=1, Source=Cited from OFP [20]2026.05 | 39 | — | 46 | 81 | — | |
| KoopmanFlowObs.=Img2026.03 | 36.7 | 87.7 | 41.3 | 81.3 | 61.8 | |
| 3D ManiFlowObs.=PC2026.03 | 35.3 | 93 | 45 | 79.3 | 63.2 | |
| FlowNFE=10, Source=Cited from OFP [20]2026.05 | 34 | — | 37 | 80 | — | |
| MP1NFE=1, Source=Cited from OFP [20]2026.05 | 33 | — | 42 | 82 | — | |
| OneDPNFE=1, Source=Cited from OFP [20]2026.05 | 33 | — | 45 | 83 | — | |
| 3D Flow MatchingObs.=PC2026.03 | 32.3 | 92.7 | 42 | 79.7 | 61.7 | |
| DP32026.04 | 32 | 81 | — | 65 | — | |
| CDP2026.04 | 32 | 84 | — | 68 | — | |
| 3D Diffusion PolicyObs.=PC2026.03 | 31.3 | 89.7 | 41.7 | 79.7 | 60.6 | |
| IDPNFE=1, Hardware=NVIDIA A402026.05 | 30 | — | 48 | 83 | — | |
| 2D ManiFlowObs.=Img2026.03 | 29.7 | 85.7 | 32.3 | 77.7 | 56.3 | |
| CPNFE=1, Source=Cited from OFP [20]2026.05 | 29 | — | 44 | 82 | — | |
| Naive DriftingNFE=1, Hardware=NVIDIA A402026.05 | 29 | — | 46 | 82 | — | |
| FlowPolicyNFE=1, Hardware=NVIDIA A402026.05 | 28 | — | 40 | 76 | — | |
| Diffusion PolicyObs.=Img2026.03 | 26 | 81.7 | 29.3 | 77.3 | 53.6 | |
| FlowNFE=10, Hardware=NVIDIA A402026.05 | 26 | — | 42 | 74 | — | |
| MP1NFE=1, Hardware=NVIDIA A402026.05 | 26 | — | 46 | 69 | — | |
| FGO2026.05 | 25.3 | — | 24 | 66.7 | 60.3 | |
| DP3NFE=10, Hardware=NVIDIA A402026.05 | 25 | — | 40 | 74 | — | |
| CPNFE=1, Hardware=NVIDIA A402026.05 | 25 | — | 38 | 73 | — | |
| DP32026.05 | 24.7 | — | 21.3 | 60.7 | 55.9 | |
| Flow MatchingObs.=Img2026.03 | 24 | 81.7 | 31.3 | 76.3 | 53.3 | |
| DiT-Policy2026.05 | 19.3 | — | 20.7 | 63.3 | 56.3 | |
| FreqPolicy2026.05 | 18.7 | — | 20.7 | 58.7 | 56.4 | |
| ACT2026.04 | 6 | 35 | — | 8 | — | |
| DPInput=Single-view RGB2026.06 | — | — | — | — | 56.8 | |
| DP3Input=Point Cloud2026.06 | — | — | — | — | 52.6 | |
| SCDPInput=Single-view RGB2026.06 | — | — | — | — | 62.4 |