Robot Manipulation on ManiSkill PullCube v1
95.9Success RateSTDR
Evaluation results
| Method | Links | |
|---|---|---|
| STDR2026.06 | 95.9 | |
| Human-Dense2026.06 | 95.5 | |
| PointPatch+RGB (pretrained)Backbone=PointPatch+RGB, Fourier Features=false, Pre-trained=true, Input Modality=Point Cloud + RGB2026.06 | 82.7 | |
| PointPatch+RGB (pretrained) + FFBackbone=PointPatch+RGB, Fourier Features=true, Pre-trained=true, Input Modality=Point Cloud + RGB2026.06 | 80.6 | |
| DP3Backbone=DP3, Fourier Features=false, Input Modality=Point Cloud2026.06 | 80 | |
| PCM + FFBackbone=PCM, Fourier Features=true, Input Modality=Point Cloud2026.06 | 78.8 | |
| DP3 + FFBackbone=DP3, Fourier Features=true, Input Modality=Point Cloud2026.06 | 78.3 | |
| PCMBackbone=PCM, Fourier Features=false, Input Modality=Point Cloud2026.06 | 77.3 | |
| PointPatch+RGBBackbone=PointPatch+RGB, Fourier Features=false, Input Modality=Point Cloud + RGB2026.06 | 75.4 | |
| PointPatch+RGB + FFBackbone=PointPatch+RGB, Fourier Features=true, Input Modality=Point Cloud + RGB2026.06 | 74.5 | |
| RGBBackbone=RGB, Input Modality=RGB2026.06 | 74.3 | |
| PointMapBackbone=PointMap, Input Modality=Point Cloud2026.06 | 71.7 | |
| PointTransformer + FFBackbone=PointTransformer, Fourier Features=true, Input Modality=Point Cloud2026.06 | 63.9 | |
| PointTransformerBackbone=PointTransformer, Fourier Features=false, Input Modality=Point Cloud2026.06 | 57.5 | |
| PointPatch + FFBackbone=PointPatch, Fourier Features=true, Input Modality=Point Cloud2026.06 | 57.1 | |
| PointPatch-attn + FFBackbone=PointPatch-attn, Fourier Features=true, Input Modality=Point Cloud2026.06 | 52.9 | |
| PointPatchBackbone=PointPatch, Fourier Features=false, Input Modality=Point Cloud2026.06 | 51.4 | |
| PointPatch-attnBackbone=PointPatch-attn, Fourier Features=false, Input Modality=Point Cloud2026.06 | 46.8 | |
| DP2026.06 | 12 | |
| LIV2026.06 | 5.1 | |
| VIP2026.06 | 0 | |
| Sparse2026.06 | 0 |