Non-prehensile manipulation on Simulation Environment Adversarial Scenario 10,000 episodes (test)
86.57Success Rate (Tol 0.5^3)Push w/o Occlusion
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| Push w/o OcclusionGroup=G1, Occlusion Handling=None (No Occlusion)2026.02 | 86.57 | 79.41 | 74.19 | |
| CURA w/o RiskGroup=G2, Component Ablation=No Risk2026.02 | 78.2 | 70.06 | 67.82 | |
| CURA-PPOGroup=G12026.02 | 77.12 | 74.59 | 72.42 | |
| CURA-PPO w/ BaseGroup=G3, Robot Base Configuration=Base-only2026.02 | 76.41 | 57.31 | 31.03 | |
| CURA w/o UncertaintyGroup=G2, Component Ablation=No Uncertainty2026.02 | 70.55 | 64.08 | 57.8 | |
| Baseline w/ Conf.Group=G22026.02 | 69.65 | 63.68 | 54.13 | |
| Push w/ Occlusion (Baseline)Group=G1, Occlusion Handling=Realistic occlusion2026.02 | 65.25 | 48.86 | 22.9 | |
| Push w/ BaseGroup=G3, Robot Base Configuration=Base-only2026.02 | 56.97 | 30.94 | 17.64 |