Safe Mobile Manipulation
93ESRIntrospective Planning (Direct)
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Introspective Planning (Direct)Backbone=GPT-4, Prediction Protocol=Direct2024.02 | 93 | 5.5 | 0.5 | 96.5 | 67.5 | 0 | 3.8 | 0.5 | |
| Retrieval-Q-CoTBackbone=GPT-4, Prediction Protocol=Direct2024.02 | 81.5 | 7 | 4.5 | 88 | 65 | 2.6 | 26.1 | 4 | |
| Prompt Set + CoTBackbone=GPT-4, Prediction Protocol=Direct2024.02 | 79 | 10 | 5 | 87.5 | 67 | 10.3 | 30.8 | 4 | |
| Auto-CoTBackbone=GPT-4, Prediction Protocol=Direct2024.02 | 77.5 | 10 | 5 | 85.5 | 62.5 | 1.3 | 37.3 | 4 | |
| Prompt SetBackbone=GPT-4, Prediction Protocol=Direct2024.02 | 73.5 | 11.5 | 3.8 | 82.5 | 63 | 3.8 | 36.2 | 2.5 | |
| Introspective Planning (Conformal)Backbone=GPT-4, Prediction Protocol=Conformal, Target Success Rate=85%2024.02 | 58 | 27.5 | 3 | 87.5 | 63 | 6.4 | 21.6 | 1.5 | |
| KnowNo (Conformal)Backbone=GPT-4, Prediction Protocol=Conformal, Target Success Rate=85%2024.02 | 37.5 | 7 | 3.5 | 84.5 | 77.5 | 51.3 | 35.3 | 1 |