Complex Manipulation on PegInsert phi1 ManiSkill (test)
95.3Success RateReStruct
Evaluation results
| Method | Links | ||
|---|---|---|---|
| ReStruct2026.06 | 95.3 | 95.3 | |
| pi_0.5Method Category=VLA Models (Prompt Injection)2026.06 | 75 | 50 | |
| TransformerMethod Category=Behavior Cloning (Reject Filtering)2026.06 | 60.9 | 60.9 | |
| OpenVLAMethod Category=VLA Models (Prompt Injection)2026.06 | 54.7 | 29.7 | |
| GMMMethod Category=Behavior Cloning (Reject Filtering)2026.06 | 53.1 | 53.1 | |
| DPMethod Category=Diffusion Policy (Soft Lagrangian)2026.06 | 42.2 | 20.3 |