Humanoid Robot Manipulation on Generalized Performance targets (Fanta, Coke, Spray, Hand) zero-shot
98Fanta Success RateRGMP
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| RGMPinference frequency=78.6 Hz, zero-shot=true2026.01 | 98 | 78 | 81 | 90 | 87 | |
| RGMP-Sinference frequency=75.2 Hz, zero-shot=true2026.01 | 96 | 83 | 85 | 93 | 89 | |
| Dex-VLAinference frequency=55.3 Hz, zero-shot=true2026.01 | 87 | 66 | 71 | 84 | 77 | |
| DPinference frequency=1.01 Hz, zero-shot=true2026.01 | 75 | 65 | 68 | 72 | 70 | |
| ManiSkill2-1stinference frequency=15.2 Hz, zero-shot=true2026.01 | 70 | 60 | 63 | 62 | 64 | |
| RDT-1binference frequency=6.7 Hz, zero-shot=true2026.01 | 70 | 61 | 60 | 62 | 64 | |
| OpenVLAinference frequency=3.6 Hz, zero-shot=true2026.01 | 68 | 58 | 61 | 60 | 62 | |
| Octoinference frequency=13.4 Hz, zero-shot=true2026.01 | 65 | 55 | 58 | 62 | 60 |