Pre-grasp Force Estimation on Real-world Grasping Dataset 30 objects
100Appropriate RateExp-Force
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Cuboids2026.03 | 100 | 0 | 0 | 0.81 | 0.92 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Fragile–Light2026.03 | 96 | 4 | 0 | 0.03 | 0.03 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Bottles2026.03 | 92 | 0 | 8 | 1.08 | 0.76 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Overall2026.03 | 87.3 | 1.3 | 11.3 | 0.59 | 0.68 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Fragile–Heavy2026.03 | 84 | 0 | 16 | 0.11 | 0.1 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Fragile–Light2026.03 | 80 | 20 | 0 | 0.47 | 0.81 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Cylinders2026.03 | 80 | 0 | 20 | 0.62 | 0.73 | |
| Exp-ForceVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Exp-Force, k=7, Category=Odd Shapes2026.03 | 72 | 4 | 24 | 0.9 | 0.45 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Bottles2026.03 | 64 | 32 | 4 | 3.8 | 2.9 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Cuboids2026.03 | 64 | 36 | 0 | 5 | 5 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Overall2026.03 | 63 | 34 | 3 | 4 | 4.8 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Cylinders2026.03 | 60 | 32 | 8 | 5.6 | 3.3 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Fragile–Heavy2026.03 | 56 | 44 | 0 | 3.1 | 0.95 | |
| Zero-shot BaselineVLM Backbone=Gemini-3-Flash, Evaluation Protocol=Zero-shot, Category=Odd Shapes2026.03 | 56 | 40 | 4 | 6 | 9.8 |