Peg-insertion on Real-world Peg-insertion Round (unseen/OOD)
90Success Rate (SR)OmniVTLA
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| OmniVTLATactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=Yes2025.08 | 90 | 1,058 | |
| VTLA-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 80 | 1,294 | |
| VTLA-SATactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=Yes2025.08 | 80 | 740 | |
| VTLA-Pre-PreTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 70 | 1,081 | |
| VTLA-Pre-TacTactile Enc. FS=No, Tactile Enc. Pre=Yes, Tactile Enc. SA=No2025.08 | 50 | 1,114 | |
| VTLA-FSTactile Enc. FS=Yes, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 40 | 970 | |
| VLA (π0)Tactile Enc. FS=No, Tactile Enc. Pre=No, Tactile Enc. SA=No2025.08 | 30 | 850 |