Contact-rich manipulation on Consolidated real-world manipulation dataset (eval)
54.2Unstack Cup Success RateGR00T N1.5 + MoSS
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GR00T N1.5 + MoSSTactile=true, Torque=true2026.04 | 54.2 | 66.7 | 50 | 25 | 49 | |
| GR00T N1.5 + MoSSTactile=true, Torque=false2026.04 | 45.8 | 66.7 | 41.7 | 16.7 | 42.7 | |
| GR00T N1.5 + ForceVLATactile=true, Torque=false2026.04 | 37.5 | 54.2 | 33.3 | 12.5 | 34.4 | |
| GR00T N1.5 + MoSSTactile=false, Torque=true2026.04 | 33.3 | 50 | 41.7 | 25 | 37.5 | |
| GR00T N1.5 + Tactile-VLATactile=true, Torque=false2026.04 | 29.2 | 45.8 | 33.3 | 12.5 | 30.2 | |
| GR00T N1.5 + TA-VLATactile=false, Torque=true2026.04 | 29.2 | 45.8 | 37.5 | 20.8 | 33.3 | |
| π0 + MoSSTactile=true, Torque=false2026.04 | 29.2 | 62.5 | 41.7 | 20.8 | 38.6 | |
| π0 + MoSSTactile=true, Torque=true2026.04 | 29.2 | 66.7 | 58.3 | 29.2 | 45.9 | |
| π0 + ForceVLATactile=true, Torque=false2026.04 | 25 | 62.5 | 50 | 16.7 | 38.6 | |
| π0 + MoSSTactile=false, Torque=true2026.04 | 20.8 | 62.5 | 54.2 | 29.2 | 41.7 | |
| GR00T N1.5Tactile=false, Torque=false2026.04 | 16.7 | 45.8 | 20.8 | 0 | 20.8 | |
| π0 + Tactile-VLATactile=true, Torque=false2026.04 | 16.7 | 50 | 37.5 | 12.5 | 29.2 | |
| π0 + TA-VLATactile=false, Torque=true2026.04 | 16.7 | 58.3 | 41.7 | 20.8 | 34.4 | |
| π0Tactile=false, Torque=false2026.04 | 12.5 | 50 | 29.2 | 16.7 | 26.1 |