Force Prediction on Sparsh Bench GelSight Mini 1.0 (test)
202.14RMSEAnyTouch 2
Evaluation Results
| Method | Links | |
|---|---|---|
| AnyTouch 2Temporal Context=Dynamic, Sensor=GelSight Mini2026.02 | 202.14 | |
| MAETemporal Context=Dynamic, Sensor=GelSight Mini, Pre-training=Sparsh, Additional Training Data=ToucHD2026.02 | 239.98 | |
| MAETemporal Context=Dynamic, Sensor=GelSight Mini, Pre-training=Sparsh2026.02 | 297.96 | |
| VJEPATemporal Context=Dynamic, Sensor=GelSight Mini, Pre-training=Sparsh2026.02 | 428.56 | |
| AnyTouch 1Temporal Context=Dynamic, Sensor=GelSight Mini2026.02 | 488.31 | |
| CLIPTemporal Context=Static, Sensor=GelSight Mini2026.02 | 553.19 | |
| T3Temporal Context=Static, Sensor=GelSight Mini2026.02 | 640.39 | |
| UniTouchTemporal Context=Static, Sensor=GelSight Mini2026.02 | 652.61 |