i get bad performance

[deavn2236]

Hello, after I use waypoint to train in the simulation environment, I find that the success rate of using waypoint is 90%, while the success rate of not using waypoint is 98%, which decreases the success rate. May I ask why this is? Besides, the imitation learning performance is also related to the number of exploration states. Doesn't it affect his state space when using waypoint

[Bailey-24]

I can't find the task, which make coffee in the real world, do you find it?

Because I think this work is very similar to Figure01 robot making coffee.