Robot Manipulation on Contact-rich manipulation tasks
90Gear Assembly Success RateMiTaS
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MiTaSSensors=V+G+E, Co-Train=-2026.06 | 90 | 90 | 80 | 75 | 65 | 80 | |
| MiTaSSensors=V+G, Co-Train=✓2026.06 | 55 | 85 | 60 | 20 | 45 | 53 | |
| SparshSensors=V+G+E, Co-Train=-2026.06 | 50 | 85 | 70 | 10 | 55 | 54 | |
| MiTaSSensors=V+G, Co-Train=-2026.06 | 45 | 70 | 65 | 55 | 20 | 51 | |
| ViT-CNNSensors=V, Co-Train=-2026.06 | 40 | 70 | 20 | 0 | 0 | 26 | |
| ViTSensors=V, Co-Train=-2026.06 | 40 | 60 | 55 | 0 | 0 | 31 | |
| SparshSensors=V+G, Co-Train=-2026.06 | 25 | 50 | 55 | 20 | 15 | 33 | |
| SparshSensors=V+G, Co-Train=✓2026.06 | 15 | 85 | 70 | 5 | 10 | 37 | |
| MiTaSSensors=V+E, Co-Train=-2026.06 | 0 | 80 | 65 | 0 | 40 | 37 |