diff --git a/comparison_vla_vs_mpc/README.md b/comparison_vla_vs_mpc/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5f85e8549b5dae50ac482e3185e07b9b861d9c50 --- /dev/null +++ b/comparison_vla_vs_mpc/README.md @@ -0,0 +1,11 @@ +# Side-by-side: pure-VLA vs MPC (same seed) + +Filename encodes both outcomes: `cmp_seed_VLA-_MPC-.mp4` +(result = SUCCESS / FAIL / FLUNG). In-video labels are green for SUCCESS, red +otherwise. + +Layout (same seed/scene): LEFT = pure VLA (passthrough), MIDDLE = MPC (poselib + +correction), RIGHT = MPC constraint readout. The MPC video's original RAW-POSELIB +left column was replaced by the VLA execution view. 50 valid seeds per task. + +Totals: bread MPC 25/50 vs VLA 25/46; canpot MPC 38/50 vs VLA 41/49 (pure VLA >= MPC). diff --git a/comparison_vla_vs_mpc/move_can_pot/cmp_seed100000_VLA-SUCCESS_MPC-SUCCESS.mp4 b/comparison_vla_vs_mpc/move_can_pot/cmp_seed100000_VLA-SUCCESS_MPC-SUCCESS.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b16578e8dc893750453b0a93bd8c3106a3cd8424 --- /dev/null +++ b/comparison_vla_vs_mpc/move_can_pot/cmp_seed100000_VLA-SUCCESS_MPC-SUCCESS.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f1b548fa29a2b32241904bb25d32e2901a71baf0580b565d1de9285d4361ecd +size 4513245 diff --git a/comparison_vla_vs_mpc/move_can_pot/cmp_seed100001_VLA-FAIL_MPC-FAIL.mp4 b/comparison_vla_vs_mpc/move_can_pot/cmp_seed100001_VLA-FAIL_MPC-FAIL.mp4 new file mode 100644 index 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