| # Configurations | |
| | Task | Layer | Alpha | Beta | Prompt | Max Timesteps | | |
| |------|:-----:|:-----:|:----:|--------|:-------------:| | |
| | close-the-microwave-door-tightly | 5 | 3.5 | 0.1 | `close-the-microwave-door-tightly` | 500 | | |
| | open-upper-left-drawer | 5 | 5.0 | 0.2 | `open-upper-left-drawer` | 700 | | |
| | put-duck-on-cabinet | 5 | 0.2 | 0.1 | `put-duck-on-cabinet` | 200 | | |
| | put-banana-on-plate | 5 | 5.0 | 0.1 | `place-yellow-banana-on-black-plate` | 300 | | |