Dual-arm Robotic Manipulation on DFR Dual-arm Tasks (unseen)
80DFR: Grill Skewers Success RateGemini 2.5 Pro
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Gemini 2.5 ProPre-training Dataset Source=Gemini 2.5 Pro, Backbone Policy=pi0, Fine-tuning Demonstrations per Task=50, Evaluation Rollouts per Task=202026.02 | 80 | 30 | 15 | 35 | 15 | 35 | |
| RoboGenePre-training Dataset Source=RoboGene, Backbone Policy=pi0, Fine-tuning Demonstrations per Task=50, Evaluation Rollouts per Task=202026.02 | 80 | 50 | 30 | 55 | 25 | 48 | |
| HumanPre-training Dataset Source=Human experts, Backbone Policy=pi0, Fine-tuning Demonstrations per Task=50, Evaluation Rollouts per Task=202026.02 | 75 | 40 | 5 | 45 | 25 | 38 | |
| GPT-4oPre-training Dataset Source=GPT-4o, Backbone Policy=pi0, Fine-tuning Demonstrations per Task=50, Evaluation Rollouts per Task=202026.02 | 55 | 40 | 15 | 50 | 20 | 36 |