Robot Manipulation on NutAssembly
23Success RateCFG-ADDA
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| CFG-ADDAlambda=-0.5, Mixing Ratio w=0.0162026.04 | 23 | — | — | — | |
| CFG-ADDAlambda=0, Mixing Ratio w=0.0162026.04 | 20 | — | — | — | |
| CFG-ADDAlambda=-0.5, Mixing Ratio w=0.32026.04 | 18 | — | — | — | |
| Co-TrainingMixing Ratio w=0.0162026.04 | 17 | — | — | — | |
| Co-Training + OTMixing Ratio w=0.12026.04 | 17 | — | — | — | |
| CFG-ADDAlambda=0, Mixing Ratio w=0.12026.04 | 17 | — | — | — | |
| Co-TrainingMixing Ratio w=0.32026.04 | 16 | — | — | — | |
| Co-Training + OTMixing Ratio w=0.0162026.04 | 15 | — | — | — | |
| Co-Training + ADDAMixing Ratio w=0.32026.04 | 15 | — | — | — | |
| Co-Training + CFGMixing Ratio w=0.0162026.04 | 15 | — | — | — | |
| CFG-ADDAlambda=-0.5, Mixing Ratio w=0.12026.04 | 15 | — | — | — | |
| Co-Training + CFGMixing Ratio w=0.12026.04 | 14 | — | — | — | |
| Co-Training + ADDAMixing Ratio w=0.0162026.04 | 13 | — | — | — | |
| Co-Training + ADDAMixing Ratio w=0.12026.04 | 13 | — | — | — | |
| Real-only2026.04 | 11 | — | — | — | |
| Co-TrainingMixing Ratio w=0.12026.04 | 11 | — | — | — | |
| Co-Training + OTMixing Ratio w=0.32026.04 | 11 | — | — | — | |
| Co-Training + CFGMixing Ratio w=0.32026.04 | 11 | — | — | — | |
| CFG-ADDAlambda=0, Mixing Ratio w=0.32026.04 | 11 | — | — | — | |
| ACT2026.06 | — | 35 | 15 | 9 | |
| BC-RNN2026.06 | — | 12 | 3 | 0 | |
| DP2026.06 | — | 45 | 21 | 15 | |
| MLP2026.06 | — | 4 | 0 | 0 | |
| OpenVLA2026.06 | — | 46 | 19 | 13 | |
| UniVLA2026.06 | — | 51 | 21 | 17 | |
| π0.5*status=chosen baseline and locally evaluated for fairness2026.06 | — | 57 | 35 | 25 | |
| π0.5+InDex2026.06 | — | 87 | 79 | 76 |