Robot Manipulation on Franka Kitchen
100Sliding Door Open SuccessMVP
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MVPBackbone=ViT-Base, Param.=86M2025.11 | 100 | 83.3 | — | 50.3 | 41 | — | — | — | — | — | 76.5 | — | — | — | 90.7 | |
| MPIBackbone=ViT-Base, Param.=86M2025.11 | 100 | 89 | — | 57.7 | 54 | — | — | — | — | — | 78.9 | — | — | — | 93.7 | |
| SFHandBackbone=ViT-Base, Param.=86M2025.11 | 100 | 88 | — | 55.7 | 58 | — | — | — | — | — | 79.9 | — | — | — | 97.7 | |
| VoltronBackbone=ViT-Base, Param.=86M2025.11 | 99.3 | 76 | — | 45.3 | 41 | — | — | — | — | — | 70.5 | — | — | — | 91 | |
| MYOEEvaluation Episodes=last 1002026.04 | 99 | — | 100 | — | 75 | 97 | — | — | — | — | — | — | — | — | — | |
| ToBo#Param=21.7M, Pre-training Dataset=Kinetics-400, #Seen frames=0.2B, Textual guidance=false2025.07 | 95 | 57 | 82 | 51 | 55 | — | — | — | — | — | — | — | — | — | — | |
| CLIPBackbone=ResNet50, Param.=25.6M2025.11 | 86.3 | 26.3 | — | 13 | 24.7 | — | — | — | — | — | 38.4 | — | — | — | 41.7 | |
| DINOv2#Param=22.1M, Pre-training Dataset=LVD-142M, #Seen frames=4.3B, Textual guidance=false2025.07 | 82 | 25.5 | 38 | 15.5 | 20 | — | — | — | — | — | — | — | — | — | — | |
| INSUP.Backbone=ResNet50, Param.=25.6M2025.11 | 75.7 | 28 | — | 18 | 26.7 | — | — | — | — | — | 39.7 | — | — | — | 50 | |
| SigLIP#Param=203M, Pre-training Dataset=WebLI, #Seen frames=2.1B, Textual guidance=true2025.07 | 75 | 17.5 | 38.5 | 8.5 | 16.5 | — | — | — | — | — | — | — | — | — | — | |
| DreamerV3-BCEvaluation Episodes=last 1002026.04 | 74 | — | 51 | — | 67 | 90 | — | — | — | — | — | — | — | — | — | |
| CLIP#Param=149.3M, Pre-training Dataset=WebImageText, #Seen frames=12.8B, Textual guidance=true2025.07 | 69.5 | 23 | 29.5 | 13.5 | 22 | — | — | — | — | — | — | — | — | — | — | |
| SigLIP2#Param=375M, Pre-training Dataset=WebLI, #Seen frames=40B, Textual guidance=true2025.07 | 58.5 | 11 | 23.5 | 11 | 18 | — | — | — | — | — | — | — | — | — | — | |
| LAIfOEvaluation Episodes=last 1002026.04 | 57 | — | 0 | — | 0 | 27 | — | — | — | — | — | — | — | — | — | |
| PPO-BCEvaluation Episodes=last 1002026.04 | 28 | — | 0 | — | 0 | 1 | — | — | — | — | — | — | — | — | — | |
| BCStatus=Pre-trained, Seeds=32026.04 | — | — | — | — | — | — | 3.03 | 2.04 | 1.53 | 2.2 | — | — | — | — | — | |
| DPPOStatus=Fine-tuned, Seeds=32026.04 | — | — | — | — | — | — | 3.8 | 3.4 | 3.3 | 3.5 | — | — | — | — | — | |
| DPPOmode=Fine-tuning2026.05 | — | — | — | — | — | — | — | — | — | — | 56 | 3 | 0.67 | 8 | — | |
| DPPOmode=Fine-tuning, variant=[10]2026.05 | — | — | — | — | — | — | — | — | — | — | 100 | 4 | 1 | 0 | — | |
| DSRLmode=Fine-tuning2026.05 | — | — | — | — | — | — | — | — | — | — | 99 | 4 | 1 | 1 | — | |
| DSRLregularization=BMD, mode=Fine-tuning2026.05 | — | — | — | — | — | — | — | — | — | — | 82 | 10 | 2.33 | 30 | — | |
| PREmode=Pre-trained2026.05 | — | — | — | — | — | — | — | — | — | — | 0 | 0 | 0 | 33 | — | |
| ReinFlow-SStatus=Fine-tuned, Seeds=32026.04 | — | — | — | — | — | — | 3.9 | 3 | 3.4 | 3.43 | — | — | — | — | — | |
| RESmode=Fine-tuning2026.05 | — | — | — | — | — | — | — | — | — | — | 100 | 4 | 1 | 0 | — | |
| ScoRe-FlowStatus=Fine-tuned, Seeds=32026.04 | — | — | — | — | — | — | 4 | 3 | 3.8 | 3.6 | — | — | — | — | — | |
| Score-SDEStatus=Fine-tuned, Seeds=32026.04 | — | — | — | — | — | — | 4 | 3 | 2.8 | 3.27 | — | — | — | — | — |