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1python train.py --dataset.repo_id=RoboHP/metaworld_mt50_v3_50d_512r \
2 --policy.type=act \
3 --batch_size 64 --num_workers 16 \
4 --steps 200000corner4⚠️ Note: You must flip the image and corresponding actions to match the original dataset format. See evaluation code (WIP) for details.
| Category | Task | Success Rate |
|---|---|---|
| Easy | Avg. | 0.846 |
| Button Press | 1.00 | |
| Button Press Topdown | 1.00 | |
| Button Press Topdown Wall | 1.00 | |
| Button Press Wall | 1.00 | |
| Coffee Button | 0.96 | |
| Dial Turn | 0.92 | |
| Door Close | 1.00 | |
| Door Lock | 0.24 | |
| Door Open | 0.92 | |
| Door Unlock | 0.96 | |
| Drawer Close | 1.00 | |
| Drawer Open | 1.00 | |
| Faucet Close | 1.00 | |
| Faucet Open | 1.00 | |
| Handle Press | 1.00 | |
| Handle Press Side | 0.96 | |
| Handle Pull | 0.20 | |
| Handle Pull Side | 0.00 | |
| Lever Pull | 0.48 | |
| Plate Slide | 1.00 | |
| Plate Slide Back | 1.00 | |
| Plate Slide Back Side | 1.00 | |
| Plate Slide Side | 1.00 | |
| Reach | 0.64 | |
| Reach Wall | 0.64 | |
| Window Close | 0.96 | |
| Window Open | 1.00 | |
| Peg Unplug Side | 0.80 | |
| Medium | Avg. | 0.665 |
| Basketball | 0.36 | |
| Bin Picking | 0.96 | |
| Box Close | 0.52 | |
| Coffee Pull | 0.76 | |
| Coffee Push | 0.96 | |
| Hammer | 0.36 | |
| Peg Insert Side | 0.48 | |
| Push Wall | 0.80 | |
| Soccer | 0.32 | |
| Sweep | 1.00 | |
| Sweep Into | 0.80 | |
| Hard | Avg. | 0.687 |
| Assembly | 0.92 | |
| Hand Insert | 0.64 | |
| Pick Out of Hole | 0.40 | |
| Pick Place | 0.72 | |
| Push | 0.80 | |
| Push Back | 0.64 | |
| Very Hard | Avg. | 0.728 |
| Shelf Place | 0.56 | |
| Disassemble | 0.76 | |
| Stick Pull | 0.60 | |
| Stick Push | 1.00 | |
| Pick Place Wall | 0.72 |
Overall Average Success Rate: 0.731