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Benchmarks
Low-level policy imitation on D4RL Kitchen (test)
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1.91
MKSH MSE
Expert (Flat BC)
1.4464
4.5757
7.705
10.8343
Feb 1, 2026
MKSH MSE
MBTH MSE
MSSH MSE
Average MSE
Updated 4d ago
Evaluation Results
Method
Method
Links
MKSH MSE
MBTH MSE
MSSH MSE
Average MSE
Expert (Flat BC)
Hierarchy=Flat (non-hi...
2026.02
1.91
2.32
1.91
2.09
LOKI-O
Conditioning=One-hot s...
2026.02
7.01
7.23
6.47
6.94
LOKI-E
Conditioning=Continuou...
2026.02
7.1
8.4
7.43
7.76
OPAL
2026.02
11.6
12.6
9.79
10.6
DADS
2026.02
13.5
12.6
12.2
12.9
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