Grasping on ManiSkill Simulation YCB objects (test)
80Success RateLEGO (Det Pooling)
Evaluation Results
| Method | Links | |
|---|---|---|
| LEGO (Det Pooling)# Demos=2500, Pooling Method=Det Pooling2025.10 | 80 | |
| LEGO (Det Pooling)# Demos=2000, Pooling Method=Det Pooling2025.10 | 76.83 | |
| LEGO (Det Pooling)# Demos=1500, Pooling Method=Det Pooling2025.10 | 74.62 | |
| LEGO (Det Pooling)# Demos=1000, Pooling Method=Det Pooling2025.10 | 71.15 | |
| LEGO (Det Pooling)# Demos=500, Pooling Method=Det Pooling2025.10 | 68.17 | |
| LEGO (Det Pooling)# Demos=250, Pooling Method=Det Pooling2025.10 | 56.63 | |
| LEGO (Attn Pooling)# Demos=2500, Pooling Method=Attn Pooling2025.10 | 51.63 | |
| LEGO (Attn Pooling)# Demos=2000, Pooling Method=Attn Pooling2025.10 | 49.81 | |
| LEGO (CLS Pooling)# Demos=2500, Pooling Method=CLS Pooling2025.10 | 49.81 | |
| LEGO (Attn Pooling)# Demos=1500, Pooling Method=Attn Pooling2025.10 | 48.27 | |
| LEGO (Attn Pooling)# Demos=1000, Pooling Method=Attn Pooling2025.10 | 44.23 | |
| LEGO (CLS Pooling)# Demos=2000, Pooling Method=CLS Pooling2025.10 | 42.4 | |
| LEGO (CLS Pooling)# Demos=1500, Pooling Method=CLS Pooling2025.10 | 41.44 | |
| LEGO (Mean Pooling)# Demos=2500, Pooling Method=Mean Pooling2025.10 | 40.58 | |
| LEGO (Mean Pooling)# Demos=2000, Pooling Method=Mean Pooling2025.10 | 40.29 | |
| LEGO (Attn Pooling)# Demos=500, Pooling Method=Attn Pooling2025.10 | 40.1 | |
| LEGO (Mean Pooling)# Demos=1500, Pooling Method=Mean Pooling2025.10 | 39.9 | |
| LEGO (CLS Pooling)# Demos=1000, Pooling Method=CLS Pooling2025.10 | 36.92 | |
| OpenVLA-OFT# Demos=5002025.10 | 36.35 | |
| LEGO (Mean Pooling)# Demos=1000, Pooling Method=Mean Pooling2025.10 | 36.15 | |
| LEGO (Attn Pooling)# Demos=250, Pooling Method=Attn Pooling2025.10 | 34.71 | |
| LEGO (Mean Pooling)# Demos=250, Pooling Method=Mean Pooling2025.10 | 32.98 | |
| LEGO (Mean Pooling)# Demos=500, Pooling Method=Mean Pooling2025.10 | 30.38 | |
| OpenVLA-OFT# Demos=2502025.10 | 30.1 | |
| LEGO (CLS Pooling)# Demos=250, Pooling Method=CLS Pooling2025.10 | 24.71 | |
| OpenVLA-OFT# Demos=10002025.10 | 22.31 | |
| LEGO (CLS Pooling)# Demos=500, Pooling Method=CLS Pooling2025.10 | 20.29 | |
| OpenVLA-OFT# Demos=15002025.10 | 15.38 | |
| OpenVLA-OFT# Demos=20002025.10 | 14.71 | |
| OpenVLA-OFT# Demos=25002025.10 | 12.79 | |
| π0-FAST# Demos=2502025.10 | 8.85 | |
| π0-FAST# Demos=15002025.10 | 8.56 | |
| π0-FAST# Demos=10002025.10 | 7.69 | |
| π0-FAST# Demos=5002025.10 | 7.6 | |
| π0-FAST# Demos=20002025.10 | 4.23 | |
| π0-FAST# Demos=25002025.10 | 4.13 |