Complex Manipulation on PegInsert Base ManiSkill (test)
98.4Success Rate (SR)ReStruct
Evaluation results
| Method | Links | |
|---|---|---|
| ReStruct2026.06 | 98.4 | |
| TransformerMethod Category=Behavior Cloning (Reject Filtering)2026.06 | 90.6 | |
| GMMMethod Category=Behavior Cloning (Reject Filtering)2026.06 | 85.9 | |
| pi_0.5Method Category=VLA Models (Prompt Injection)2026.06 | 85.9 | |
| OpenVLAMethod Category=VLA Models (Prompt Injection)2026.06 | 68.8 | |
| DPMethod Category=Diffusion Policy (Soft Lagrangian)2026.06 | 57.8 |