Simulation
Benchmarks
TaskDatasetSOTA resultTrendResults
Simulation
83.07Success Rate
3
Simulation
55Success Rate
3
Simulation YCB All
0.033CD
3
Simulation YCB B5
0.109Chamfer Distance (CD)
3
Simulation YCB B4
0.055Chamfer Distance (CD)
3
Simulation YCB B3
0.027Chamfer Distance (CD)
3
Simulation YCB B2
0.022Chamfer Distance (CD)
3
Simulation YCB B1
0.02Chamfer Distance (CD)
3
Simulation Similar-object distractors Experimental
28Instruction Following Success Count
3
Simulation Wrist-camera invisible Experimental
0.833Instruction Following Success Rate
3
Simulation Wrist-camera invisible (Control)
1Instruction Following Success Rate (Count Format)
3
Simulation Test Case 2
102.38Path Length (m)
3
Simulation Luminance 20 - 40
74.4Grasping Accuracy
3
Simulation Luminance 0 - 20
70.5Grasping Accuracy
3
Simulation pick-up-from-drawer
0.001Success Rate p-value
3
Simulation open-drawer
0.001Success Rate P-Value
3
Simulation pick-up-from-open-box
0.001Success Rate P-Value
3
Simulation pick-up-nut-from-peg
25Success Rate
3
Simulation pick-up-lid-from-pot
0.001Success Rate P-Value
3
Simulation Outdoor
60.2Keypoints Visibility
3
Simulation Indoor
75.7Keypoints Visibility
3
Simulation
1.431Positional Error X (cm)
3
Simulation 10 Tasks
0.81SR
3
Simulation Data 3 agents: 1 adult, 1 bicycle, 1 child (test)
93.6Success Rate (SR)
3
Simulation
100Success Rate
3