Multi-task Robotic Manipulation on RLBench 100 demonstrations (test)
93Average Success RateSUGAR
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SUGARVariant=SN_m2024.04 | 93 | 93.1 | 94.5 | 98.9 | 85.4 | 97.8 | 100 | 97.9 | 94.5 | 70 | 98.4 | |
| SUGARVariant=Ens_m2024.04 | 93 | 95.8 | 95.7 | 96.1 | 86.5 | 94.2 | 100 | 97 | 93.5 | 72 | 98.8 | |
| SUGARVariant=Ens_m w/o grasp2024.04 | 92 | 93.1 | 93.7 | 98.8 | 85.5 | 92.3 | 99.9 | 97.3 | 93.7 | 68.8 | 97.2 | |
| SUGARVariant=SN_m w/o grasp2024.04 | 91.9 | 94.9 | 94.1 | 90.9 | 83.9 | 92.5 | 100 | 97 | 96.2 | 72.3 | 97 | |
| PolarNetPre-train=ShapeNetPart2024.04 | 89.8 | 97.8 | 86 | 99.6 | 80.5 | 94.1 | 100 | 93.4 | 80.5 | 68.1 | 97.8 | |
| HiveformerPre-train=R3M [51]2024.04 | 88.5 | 89.6 | 87 | 79.2 | 82.6 | 87 | 100 | 91.6 | 90.2 | 81.8 | 95.6 | |
| SUGARVariant=SN_s2024.04 | 88.1 | 95.4 | 96.2 | 97.6 | 61.6 | 81.2 | 100 | 92 | 94 | 66 | 97 | |
| HiveformerPre-train=CLIP [61]2024.04 | 87.2 | 87.2 | 96 | 68.8 | 68.8 | 94.8 | 100 | 92.4 | 93 | 73.2 | 97.6 | |
| SUGARPre-train=-, Variant=From scratch2024.04 | 85.9 | 77.7 | 92.7 | 91.7 | 69.4 | 87.7 | 99.7 | 94.3 | 83.1 | 66.8 | 95.7 | |
| HiveformerPre-train=-2024.04 | 83.3 | 88.9 | 92.9 | 100 | 75.3 | 58.2 | 100 | 78.7 | 71.2 | 79.1 | 89.2 | |
| Auto-λPre-train=-2024.04 | 69.3 | 87 | 78 | 95 | 31 | 62 | 100 | 77 | 19 | 64 | 80 |