Force Prediction (GelSight to uSkin) on GenForce-Hetero unseen objects
-12.53Force X ResidualUniT
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| UniTEvaluation Protocol=Zero-shot, Encoder Freezing Status=Frozen2026.02 | -12.53 | -0.64 | -0.06 | |
| AnyTouchEvaluation Protocol=Zero-shot, Encoder Freezing Status=Frozen2026.02 | -1.97 | -0.48 | -12.23 | |
| UniForce (FT)Evaluation Protocol=Full-training, Encoder Freezing Status=Unfrozen2026.02 | -1.43 | -0.04 | -4.65 | |
| T3Evaluation Protocol=Zero-shot, Encoder Freezing Status=Frozen2026.02 | -0.03 | -0.2 | 0.17 | |
| ResNetEvaluation Protocol=Full-training, Encoder Freezing Status=Unfrozen2026.02 | -0.01 | -0.71 | 0.04 | |
| UniForceEvaluation Protocol=Zero-shot, Encoder Freezing Status=Frozen2026.02 | 0.4 | 0.29 | 0.47 | |
| GenForce*Evaluation Protocol=Non-zero-shot2026.02 | 0.59 | 0.69 | 0.79 |