Bimanual Robot Manipulation on RoboTwin 2.0
87Success Rate: Handover BlockSkiP
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SkiPBackbone=DP3, Point-cloud setting=clean2026.05 | 87 | 99.3 | 83.3 | 54 | 83 | 86.3 | 81 | 44.3 | 77.3 | 126.6 | — | — | |
| CoA-fwdBackbone=DP3, Point-cloud setting=clean2026.05 | 84 | 98 | 77 | 44 | 59.3 | 85.7 | 89.3 | 43.7 | 72.6 | 242.7 | — | — | |
| SkiP†Backbone=DP3, Point-cloud setting=clean2026.05 | 79 | 99.7 | 85.7 | 48.7 | 86 | 86.3 | 83.3 | 44 | 76.6 | 121.7 | — | — | |
| CoA-revBackbone=DP3, Point-cloud setting=clean2026.05 | 78 | 98 | 81.7 | 39.3 | 68.3 | 88.3 | 91 | 44.3 | 73.6 | 176.2 | — | — | |
| OpenVLA-OFT + Feat2GoBackbone Architecture=OpenVLA-OFT, Training/Evaluation Protocol=Feat2Go2026.05 | 76.6 | — | — | 91.4 | — | 96.9 | 95.3 | — | 88.8 | — | 78.9 | 93.8 | |
| OpenVLA-OFT + GRPOBackbone Architecture=OpenVLA-OFT, Training/Evaluation Protocol=GRPO2026.05 | 71.9 | — | — | 83.6 | — | 93 | 93.8 | — | 84.1 | — | 71.9 | 90.6 | |
| DP3Backbone=DP3, Point-cloud setting=clean2026.05 | 71.3 | 98.7 | 62.7 | 52.7 | 29.7 | 76.7 | 63.7 | 36 | 61.4 | 268.7 | — | — | |
| OpenVLA-OFT + SimpleVLA-RLBackbone Architecture=OpenVLA-OFT, Training/Evaluation Protocol=SimpleVLA-RL2026.05 | 57.8 | — | — | 61.2 | — | 82.1 | 94.2 | — | 71.3 | — | 64.1 | 68.3 | |
| OpenVLA-OFT + SFTBackbone Architecture=OpenVLA-OFT, Training/Evaluation Protocol=SFT2026.05 | 28.1 | — | — | 9.4 | — | 54.7 | 75.8 | — | 31.9 | — | 3.1 | 20.3 | |
| RDT + SFTBackbone Architecture=RDT, Training/Evaluation Protocol=SFT2026.05 | 14 | — | — | 12 | — | 17 | 7 | — | 12 | — | 9 | 13 | |
| π0 + SFTBackbone Architecture=π0, Training/Evaluation Protocol=SFT2026.05 | 8 | — | — | 21 | — | 45 | 11 | — | 22.2 | — | 36 | 12 | |
| DP + SFTBackbone Architecture=DP, Training/Evaluation Protocol=SFT2026.05 | 0 | — | — | 0 | — | 0 | 0 | — | 0 | — | 0 | 0 | |
| ACT + SFTBackbone Architecture=ACT, Training/Evaluation Protocol=SFT2026.05 | 0 | — | — | 4 | — | 1 | 0 | — | 0.8 | — | 0 | 0 | |
| DP3 + SFTBackbone Architecture=DP3, Training/Evaluation Protocol=SFT2026.05 | 0 | — | — | 6 | — | 1 | 1 | — | 1.5 | — | 0 | 1 |