Tabletop pick-and-place on Franka
67Task Success Rate (SRtask)L-BFGS Guidance
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| L-BFGS Guidancesolver=L-BFGS2026.06 | 67 | 98.3 | 1.21 | 8.02 | |
| DDIM†embodiment_aware=false, platform=floating gripper2026.06 | 62.5 | 95.3 | 1.7 | 7.39 | |
| DDIMembodiment_aware=true2026.06 | 44 | 89 | 0.98 | 8.94 | |
| Gradient Guidance (xt-nudge)guidance_type=xt-nudge2026.06 | 43.3 | 90.3 | 0.97 | 9.22 | |
| Gradient Guidance (σ)guidance_type=σ2026.06 | 41 | 92.3 | 1 | 8.99 |