Square on MimicGen D2
60Success RateEquiDiff.
Evaluation results
| Method | Links | |
|---|---|---|
| EquiDiff.Action Controller=Delta, Number of Demonstrations=5002026.06 | 60 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=5002026.06 | 59.3 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=5002026.06 | 58 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=5002026.06 | 56.7 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=2002026.06 | 49.3 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=2002026.06 | 48.7 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=5002026.06 | 48 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=5002026.06 | 47.3 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=5002026.06 | 45.3 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=5002026.06 | 45.3 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=5002026.06 | 44 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=5002026.06 | 43.3 | |
| EquiDiff.Action Controller=Delta, Number of Demonstrations=2002026.06 | 41.3 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=2002026.06 | 41.3 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=2002026.06 | 40 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=5002026.06 | 40 | |
| DiffPo. + MAction Controller=Delta, Number of Demonstrations=1002026.06 | 32.7 | |
| DiffPo. + MAction Controller=Relative, Number of Demonstrations=1002026.06 | 32.7 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=5002026.06 | 32 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=2002026.06 | 32 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=2002026.06 | 30 | |
| EquiDiff.Action Controller=Delta, Number of Demonstrations=1002026.06 | 25.3 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=2002026.06 | 24.7 | |
| MirrorDiff.Action Controller=Delta, Number of Demonstrations=1002026.06 | 24 | |
| DiffPo.Action Controller=Delta, Number of Demonstrations=1002026.06 | 20.7 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=2002026.06 | 20.7 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=2002026.06 | 19.3 | |
| MirrorDiff.Action Controller=Relative, Number of Demonstrations=1002026.06 | 18 | |
| DiffPo.Action Controller=Relative, Number of Demonstrations=1002026.06 | 18 | |
| BC-RNN + MAction Controller=Relative, Number of Demonstrations=1002026.06 | 16 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=2002026.06 | 12.7 | |
| EquiDiff.Action Controller=Relative, Number of Demonstrations=1002026.06 | 11.3 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=2002026.06 | 9.3 | |
| BC-RNNAction Controller=Relative, Number of Demonstrations=1002026.06 | 8 | |
| BC-RNN + MAction Controller=Delta, Number of Demonstrations=1002026.06 | 4.7 | |
| BC-RNNAction Controller=Delta, Number of Demonstrations=1002026.06 | 4 |