Bimanual Robot Manipulation on TWIN 1.0 (test) benchmark leaderboard · SOTA2 Research

Bimanual Robot Manipulation on TWIN 1.0 (test)

99Push Box Success RateBiCICLe

Evaluation Results

Method	Links
BiCICLe2026.04		99	100	80.3	94.3	68	83.7	83	29	65.3	34.3	97.3	36	46.7	70.5
BiCICLe + Best-of-N2026.04		97.7	100	81.7	94	73.7	85	84.7	29.3	72.7	31.7	98.3	33.7	42.3	71.1
BiCICLe + Arms’ Debate2026.04		97	100	83.3	94.3	70.3	80	83	28	65.3	33.3	96	36	47.3	70.3
PPI2026.04		96.7	—	—	—	62.7	89.3	92	46.3	—	—	98.7	—	79.7	—
RoboPrompt-SA2026.04		94	100	82	83.7	64.7	78.7	58.7	18	44	11.7	89.3	26.3	37.3	60.6
π0-keypose2026.04		93	38	22	2	59	97	72	27	41	7	2	68	40	43.7
3DFA2026.04		92.7	92.7	89.3	89	96	99.7	94.7	74	69.7	40.7	99.3	94.7	93	85.1
KStarDiffuser2026.04		83	—	—	—	27	98.7	—	43.7	—	—	89	—	—	—
RoboPrompt-DA2026.04		83	100	80	82.7	63.3	69.3	79.3	24.3	61	23.3	93.7	30	47	64.4
KAT-SA2026.04		60	4.3	11.7	4	33.7	42.3	17	2.3	3.7	2.7	55.3	10	16.3	20.3
VLM-LF2026.04		59	6.3	7	6.7	8.3	11.3	8	5.7	7.7	3	31	10	10	13.4
PerAct-LF2026.04		57	10	0	0	9	40	14	11	2	21	28	8	27	17.5
DP32026.04		56	—	—	—	0	64	—	6.3	—	—	1.7	—	—	—
RVT-LF2026.04		52	39	0	0	0	17	6	3	3	3	0	3	10	10.5
KAT-DA2026.04		50.7	3	17.3	4	30.7	19	11.3	0.3	2.3	1.7	74.3	6	6	17.4
AnyBimanual2026.04		46	73	26	15	44	36	14	7	8	24	67	24	—	32
PerAct22026.04		6	47	3	11	41	50	1	12	4	24	0	9	10	16.8
ACT2026.04		0	4	0	0	0	36	6	0	0	16	0	2	13	5.9