Robotic Manipulation Success Rate on MetaWorld Out-of-Distribution (OOD)
96Button Press Success RateDDP
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DDPCondition=Tracking-Augmented (OOD)2026.03 | 96 | — | 100 | 94 | 74 | 100 | 100 | 39 | 39 | 17 | 79 | 73.8 | |
| DP3Condition=Base Policy (OOD)2026.03 | 0 | — | 0 | 2 | 4 | 0 | 0 | 0 | 1 | 0 | 0.8 | 0.8 | |
| FlowPolicyCondition=Base Policy (OOD)2026.03 | 0 | — | 11 | 0 | 53 | 0 | 1 | 0 | 2 | 0 | 6.7 | 6.7 | |
| DDPCondition=Base Policy (OOD)2026.03 | 0 | — | 0 | 5 | 3 | 1 | 0 | 0 | 4 | 0 | 1.3 | 1.3 | |
| FlowPolicyCondition=Tracking-Augmented (OOD)2026.03 | 0 | — | 13 | 41 | 0 | 0 | 0 | 0 | 0 | 0 | 5.4 | 5.4 | |
| DP3 (Ablation)Condition=Tracking-Augmented (OOD)2026.03 | 0 | — | 93 | 23 | 59 | 3 | 1 | 13 | 9 | 16 | 22 | 23.9 |