Peeling Task on Unseen Peelers
90Contact RateOurs (SCField)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Ours (SCField)Modality=Vision + Tactile, Representation=Semantic-Contact Fields2026.02 | 90 | 73.3 | 4.52 | |
| Ablation: Real-Only CFTraining=Real-world only alignment2026.02 | 57.5 | 50 | 1.8 | |
| Vision-OnlyModality=Vision only2026.02 | 50 | 33.3 | 1.12 | |
| Ablation: Sim-Only CFTraining=Simulation-only alignment2026.02 | 50 | 46.7 | 3.05 | |
| Raw TactileModality=Tactile only2026.02 | 40 | 30 | 0.85 | |
| Ablation: No ForcePhysical Grounding=No explicit force vectors2026.02 | 40 | 13.3 | 1.08 |