Real-world pick and place on Real-world Two-finger gripper
100Success Rate (Can)VTLA-Pre-Pre
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| VTLA-Pre-PreTactile Encoder FS=false, Tactile Encoder Pre=true, Tactile Encoder SA=false2025.08 | 100 | 37.5 | 87.5 | 100 | 81.3 | 618 | 525 | 450 | 410 | 501 | |
| OmniVTLATactile Encoder FS=false, Tactile Encoder Pre=true, Tactile Encoder SA=true2025.08 | 100 | 87.5 | 100 | 100 | 96.9 | 535 | 537 | 527 | 393 | 498 | |
| VTLA-SATactile Encoder FS=false, Tactile Encoder Pre=false, Tactile Encoder SA=true2025.08 | 87.5 | 62.5 | 100 | 100 | 87.5 | 524 | 553 | 455 | 405 | 484 | |
| VTLA-Pre-TacTactile Encoder FS=false, Tactile Encoder Pre=true, Tactile Encoder SA=false2025.08 | 87.5 | 50 | 100 | 100 | 84.4 | 665 | 439 | 495 | 602 | 550 | |
| VTLA-FSTactile Encoder FS=true, Tactile Encoder Pre=false, Tactile Encoder SA=false2025.08 | 75 | 50 | 100 | 100 | 81.2 | 677 | 549 | 498 | 423 | 537 | |
| VLA (π0)Tactile Encoder FS=false, Tactile Encoder Pre=false, Tactile Encoder SA=false2025.08 | 62.5 | 37.5 | 100 | 100 | 75 | 981 | 562 | 648 | 436 | 657 | |
| VTLA-PreTactile Encoder FS=false, Tactile Encoder Pre=true, Tactile Encoder SA=false2025.08 | 62.5 | 75 | 100 | 100 | 84.4 | 847 | 526 | 540 | 429 | 586 |