Embodied Manipulation on RLBench Few-shot Adaptation Tasks (test)
84Meat on Grill Success RateSAM-E
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SAM-EProtocol=adaptation2024.05 | 84 | 56 | 62.4 | 100 | 35.2 | 41.6 | 63.2 | |
| RVTProtocol=from scratch2024.05 | 80 | 36 | 7.2 | 99.2 | 2.4 | 11.2 | 39.3 | |
| SAM-EProtocol=adaptation, Encoder=SAM → CLIP2024.05 | 78.7 | 38.7 | 28 | 100 | 16 | 25.3 | 47.8 | |
| SAM-EProtocol=from scratch2024.05 | 75.2 | 12.8 | 28 | 100 | 20.8 | 17.6 | 42.4 | |
| SAM-EProtocol=from scratch, Encoder=SAM → R3M2024.05 | 69.6 | 16 | 29.6 | 100 | 12 | 22.4 | 41.6 | |
| SAM-EProtocol=adaptation, Encoder=SAM → RVT2024.05 | 69.6 | 39.2 | 38.4 | 99.2 | 17.6 | 38.4 | 50.4 | |
| RVTProtocol=adaptation2024.05 | 68.8 | 36 | 1.6 | 100 | 1.6 | 14.4 | 37.1 | |
| SAM-EProtocol=adaptation, Encoder=SAM → DINO2024.05 | 68 | 33.3 | 50.7 | 98.7 | 24 | 22.7 | 49.6 | |
| SAM-EProtocol=adaptation, Encoder=SAM → R3M2024.05 | 64.8 | 37.6 | 28.8 | 100 | 12.8 | 37.6 | 46.9 | |
| SAM-EProtocol=from scratch, Encoder=SAM → CLIP2024.05 | 64 | 12 | 16 | 100 | 14.7 | 24 | 38.4 | |
| SAM-EProtocol=from scratch, Encoder=SAM → RVT2024.05 | 60 | 12 | 36 | 96 | 15.2 | 20.8 | 40 | |
| SAM-EProtocol=from scratch, Encoder=SAM → DINO2024.05 | 53.3 | 12 | 26.7 | 100 | 16 | 24 | 38.7 |