Tidy-up-desk on Real-robot tabletop tasks 15 rollouts
73.3Success Rate (%)SkiP
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SkiPBackbone=π0.5, Fine-tuning protocol=SkiP's relabeling objective, Number of rollouts=152026.05 | 73.3 | 207.4 | 2 | |
| BaseBackbone=π0.5, Fine-tuning protocol=standard behavior cloning, Number of rollouts=152026.05 | 66.7 | 250.7 | 2 | |
| CoABackbone=π0.5, Fine-tuning protocol=Chain-of-Action, Number of rollouts=152026.05 | 40 | 232.4 | 2 | |
| KF-onlyBackbone=π0.5, Fine-tuning protocol=keyframe-only prediction, Number of rollouts=152026.05 | 13.3 | 286.8 | 2 |