Peeling Task on Peelers Seen
0.8Contact RateOurs (SCField)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Ours (SCField)Modality=Vision + Tactile, Representation=Semantic-Contact Fields2026.02 | 0.8 | 0.7 | 4.73 | |
| Ablation: No ForcePhysical Grounding=No explicit force vectors2026.02 | 0.65 | 0.3 | 1.95 | |
| Ablation: Sim-Only CFTraining=Simulation-only alignment2026.02 | 0.6 | 0.3 | 2 | |
| Ablation: Real-Only CFTraining=Real-world only alignment2026.02 | 0.6 | 0.15 | 0.93 | |
| Vision-OnlyModality=Vision only2026.02 | 0.45 | 0.3 | 1.5 | |
| Raw TactileModality=Tactile only2026.02 | 0.45 | 0.2 | 1.05 |