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Benchmarks
Goal-conditioned contact-rich manipulation on Push-T
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89.3
Success Rate
CEM
82.228
84.064
85.9
87.736
May 9, 2026
Success Rate
Time per Episode (ms)
Time per Plan Step (ms)
Wall Time Speedup
Plan Time Speedup
Updated 2mo ago
Evaluation Results
Method
Method
Links
Success Rate
Time per Episode (ms)
Time per Plan Step (ms)
Wall Time Speedup
Plan Time Speedup
CEM
n=50, Planner cost=10....
2026.05
89.3
10,558
10,340
-
-
GC-IDM
n=50, Planner cost=1.5...
2026.05
84.7
305
86
35
121
GC-IDM
n=200, Planner cost=1....
2026.05
84.2
322
397
33
106
CEM
n=200, Planner cost=10...
2026.05
82.5
10,778
42,232
-
-
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