Square on Mixed Human demonstration data
0.79Success RateSAG
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SAG2026.01 | 0.79 | 3.72 | |
| DDIMInference steps K=302026.01 | 0.78 | 3.32 | |
| BACCache update steps S=10, Selected upstream blocks k=52026.01 | 0.78 | 3.36 | |
| SDP2026.01 | 0.77 | 1.69 | |
| Full Precision2026.01 | 0.76 | — | |
| L2CTraining setup=Same as SAG2026.01 | 0.53 | 1.26 | |
| EfficientVLACache updating interval N=72026.01 | 0.52 | 3.33 | |
| FalconSetup=Original setup per Chen et al., 2025a2026.01 | 0.4 | 1.54 | |
| CPInference steps K=32026.01 | 0.3 | 15.4 |