Multi-task Robotic Manipulation on RLBench
83.6Avg Success RateVERM
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| VERMBackbone=ResNet50 variant of CLIP, Input Resolution=224x224, Vision-Language Model=GPT-4o2025.12 | 83.6 | 96.8 | 89.6 | 95.2 | 100 | 98.4 | 99.2 | 100 | 99.2 | — | 80.8 | 93.6 | 100 | 96 | 55.2 | 47.2 | 100 | 30.4 | 40 | |
| 3DDAInput Resolution=256x2562025.12 | 83.5 | 96 | 89.6 | 84 | 96.8 | 99.2 | 97.6 | 96 | 100 | — | 68.3 | 82.4 | 97.6 | 93.6 | 85.6 | 44 | 98.4 | 65.6 | 24 | |
| FlowRAM2025.06 | 82.3 | 85 | 90 | 88 | 82 | 86.3 | 93.3 | 88 | 100 | 80.3 | 31.3 | — | — | — | — | — | — | — | — | |
| RVT-2Input Resolution=224x2242025.12 | 82.2 | 100 | 74 | 100 | 99 | 99 | 92 | 96 | 99 | — | 80 | 88 | 96 | 95 | 66 | 35 | 100 | 40 | 38 | |
| 3D Diffuser Actor2025.06 | 78.4 | 82.7 | 89.3 | 94.7 | 88 | 80 | 92 | 77.3 | 98.7 | 69.3 | 12 | — | — | — | — | — | — | — | — | |
| RVT-2retrained on FlowRAM demos=true2025.06 | 76.2 | 79.3 | 78.7 | 87.3 | 86.7 | 85.3 | 76.7 | 86.7 | 96 | 67.3 | 27.7 | — | — | — | — | — | — | — | — | |
| Act3D2025.12 | 68.4 | 93 | 93 | 92 | 94 | 94 | 93 | 90 | 92 | — | 12 | 47 | 95 | 80 | 51 | 8 | 99 | 27 | 3 | |
| Act3D2025.06 | 65.3 | 52 | 84 | 80 | 66.7 | 64 | 100 | 54.7 | 86.7 | 64 | 0 | — | — | — | — | — | — | — | — | |
| RVTInput Resolution=224x2242025.12 | 65 | 52 | 71.2 | 72 | 88 | 93.6 | 81.6 | 88 | 99.2 | — | 28.8 | 48 | 91.2 | 91 | 49.6 | 36 | 100 | 11.2 | 4 | |
| PerAct2025.12 | 52.3 | 55.2 | 88 | 52 | 70.4 | 88 | 74 | 51.2 | 89.6 | — | 26.4 | 17.6 | 86 | 44.8 | 28 | 16.8 | 92.8 | 5.6 | 2.4 | |
| PolarNet2025.12 | 48.7 | 36 | 84 | 52 | 100 | 80 | 56 | 32 | 92 | — | 4 | 44 | 84 | 40 | 12 | 12 | 96 | 4 | 0 | |
| HiveFormer2025.12 | 48 | 52 | 52 | 28 | 100 | 80 | 64 | 68 | 76 | — | 8 | 8 | 76 | 80 | 32 | 8 | 84 | 0 | 0 | |
| ManiGaussian2025.06 | 44.8 | 28 | 76 | 60 | 60 | 56 | 24 | 16 | 92 | 20 | 12 | — | — | — | — | — | — | — | — | |
| GNFactor2025.06 | 31.7 | 25.3 | 76 | 28 | 57.3 | 50.7 | 20 | 0 | 37.3 | 18.7 | 4 | — | — | — | — | — | — | — | — | |
| PerAct2025.06 | 20.4 | 18.7 | 54.7 | 0 | 40 | 38.7 | 18.7 | 2.7 | 5.3 | 18.7 | 6.7 | — | — | — | — | — | — | — | — | |
| C2F-ARM-BC2025.12 | 16.9 | 24 | 20 | 0 | 20 | 68 | 16 | 4 | 24 | — | 0 | 8 | 12 | 8 | 0 | 8 | 72 | 4 | 0 |