Robot Manipulation on FrankaKitchen, PartManip, and ManiSkill simulation benchmarks (test)
100T01 Success RateVRB
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| VRB3D affordance lifting strategy=true2025.03 | 100 | 20 | 100 | 46.7 | 66.7 | 53.3 | 40 | 26.7 | 46.7 | 100 | 60 | 46.7 | 60 | 59 | |
| GFlow2025.03 | 100 | 33.3 | 100 | 6.7 | 60 | 53.3 | 6.7 | 26.7 | 73.3 | 93.3 | 100 | 60 | 80 | 61 | |
| VidBot2025.03 | 100 | 93.3 | 100 | 66.7 | 80 | 86.7 | 100 | 66.7 | 86.7 | 100 | 100 | 66.7 | 100 | 88.2 | |
| OctoFine-tuned on extracted affordance data=true2025.03 | 93.3 | 33.3 | 93.3 | 66.7 | 60 | 46.7 | 80 | 80 | 53.3 | 100 | 66.7 | 53.3 | 73.3 | 69.2 | |
| Where2Act2025.03 | 86.7 | 53.3 | 60 | 0 | 46.7 | 66.7 | 60 | 100 | 53.3 | — | — | — | — | 58.5 | |
| GAPartNet2025.03 | 73.3 | 13.3 | 66.7 | 33.3 | 53.3 | 53.3 | 40 | 66.7 | 60 | — | — | — | — | 51.1 |