Force Fidelity Analysis on Contact-Rich Tasks Stamp, Plug, Press, Insert, Clean WB, Clean Vase
10.61Stamp FidelityForceFlow
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ForceFlowForce Input=included2026.05 | 10.61 | 3.58 | 5.03 | 21.79 | 4.59 | 3.76 | 8.23 | |
| ForceVLA2026.05 | 30.03 | 9.59 | 30.94 | 37.82 | 20.16 | 11.29 | 23.31 | |
| ForceFlowForce Input=excluded2026.05 | 30.03 | 13.36 | 37.5 | 34.75 | 7.16 | 13.24 | 22.67 | |
| ACT2026.05 | 31.86 | 25.54 | 31.81 | 38.71 | 11.91 | 30.45 | 28.38 | |
| π0.52026.05 | 31.99 | 21.41 | 17.39 | 50.89 | 11.93 | 7.87 | 23.58 | |
| Diffusion Policy2026.05 | 32.26 | 15.79 | 24.86 | 23.85 | 8.22 | 23.56 | 21.42 |