Contact-Rich Robot Manipulation on Contact-Rich Manipulation Benchmark
56Lightbulb-A Success RateResTacVLA
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| ResTacVLAMethod=ResTacVLA2026.07 | 56 | 32 | 68 | 60 | 86.7 | 80 | 60 | 60 | 62.8 | |
| Diffusion PolicyTactile Representation=ResTac2026.07 | 32 | 12 | 32 | 28 | 66.7 | 60 | 40 | 33.3 | 38 | |
| π0.5Modality=Vision Only2026.07 | 28 | 8 | 36 | 20 | 46.7 | 40 | 26.7 | 20 | 28.2 | |
| π0.5Tactile Encoder=T-UniT2026.07 | 28 | 12 | 40 | 32 | 73.3 | 53.3 | 66.7 | 33.3 | 42.3 | |
| Diffusion PolicyTactile=None2026.07 | 20 | 0 | 28 | 16 | 40 | 26.7 | 13.3 | 6.7 | 18.8 | |
| π0.5Tactile Encoder=T-ResNet2026.07 | 16 | 0 | 32 | 24 | 40 | 40 | 20 | 13.3 | 23.2 |