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Benchmarks
Dexterous Manipulation on D4RL Adroit Tasks
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89.5
Pen Success Rate (Human)
IQL
35.42
49.46
63.5
77.54
Sep 28, 2025
Pen Success Rate (Human)
Pen Success Rate (Cloned)
Hammer Performance Score (Human)
Hammer Performance Score (Cloned)
Door Performance Score (Human)
Door Performance Score (Cloned)
Average Performance Score
Performance Gain (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Pen Success Rate (Human)
Pen Success Rate (Cloned)
Hammer Performance Score (Human)
Hammer Performance Score (Cloned)
Door Performance Score (Human)
Door Performance Score (Cloned)
Average Performance Score
Performance Gain (%)
IQL
2025.09
89.5
4.9
7.2
0.5
9.8
7.6
33.2
-
ICQL
2025.09
85.6
89.4
3.7
4.5
17.1
11.7
35.3
-
DT
2025.09
79.5
74
1.7
3.7
5.5
3.2
27.9
-
TD3+BC
2025.09
64.6
76.8
1.5
1.8
0.2
-0.1
24.2
-
BC
2025.09
63.9
37
1.2
0.6
2
0
17.45
-
CQL
2025.09
37.5
39.2
4.4
2.1
9.9
0.1
15.5
-
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