Long-horizon manipulation on Simulation Benchmark
68Retrieve Object Success Rate (Spatial)Hand-Designed Features
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Hand-Designed Features2026.06 | 68 | 15 | 21 | 13 | 29 | |
| HALO2026.06 | 64 | 32 | 26 | 40 | 41 | |
| Scene Memory Transformer2026.06 | 53 | 25 | 17 | 40 | 34 | |
| HALO w/o VQAVQA=disabled2026.06 | 42 | 29 | 17 | 37 | 31 | |
| SAM2Act++2026.06 | 39 | 11 | 27 | 4 | 20 | |
| ReMemBer2026.06 | 36 | 13 | 21 | 0 | 18 | |
| Token Merging2026.06 | 29 | 24 | 25 | 38 | 29 | |
| Standard Transformer2026.06 | 26 | 23 | 12 | 27 | 22 |