# Evaluation Results

## PushT Environment

| Method         | Avg Sum Reward | Avg Max Reward | Success % | Eval Time (s) | Eval Ep Time (s) |
|--------------|---------------|---------------|-----------|--------------|----------------|
| **DOT**  | 98.61         | 0.927         | 67.3%     | 949.14       | 0.949          |
| **Diffusion PushT** | 104.84        | 0.955         | 65.4%     | 730.87       | 1.462          |
| **vqbet_pusht** | 87.22         | 0.817         | 57.0%     | 465.85       | 0.932          |

## PushT Keypoints Environment

| Method     | Avg Sum Reward | Avg Max Reward | Success % | Eval Time (s) | Eval Ep Time (s) |
|-----------|---------------|---------------|-----------|--------------|----------------|
| **Diffusion** | 101.66        | 0.969         | 71.0%     | 63.35        | 0.127          |
| **DOT**      | 129.63        | 0.921         | 44.7%     | 382.24       | 0.382          |


### PushT Training
- **Policy**: DOT  
- **Dataset**: `lerobot/pusht`  
- **Environment**: PushT-v0  
- **Batch Size**: 24  
- **Training Steps**: 1,000,000  
- **Logging**: Every 1,000 steps  
- **Evaluation Frequency**: Every 10,000 steps  
- **Checkpoint Saving**: Every 50,000 steps  
- **Random Seed**: 100,000  
- **Workers**: 24  
- **Mixed Precision (AMP)**: Enabled  
- **Device**: CUDA  

### PushT Keypoints Training
- **Policy**: DOT  
- **Dataset**: `lerobot/pusht_keypoints`  
- **Environment**: PushT-v0  
- **Batch Size**: 24  
- **Training Steps**: 1,000,000  
- **Logging**: Every 1,000 steps  
- **Evaluation Frequency**: Every 10,000 steps  
- **Checkpoint Saving**: Every 50,000 steps  
- **Random Seed**: 100,000  
- **Workers**: 24  
- **Mixed Precision (AMP)**: Enabled  
- **Device**: CUDA  
- **Training Horizon**: 30  
- **Inference Horizon**: 30