Robot Manipulation on Real-world Leaphand tasks UR5 + Leaphand
55Grasp Chicken Success RateMAE (H2R)
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MAE (H2R)Policy=DP2025.05 | 55 | 60 | 65 | 60 | |
| MAE (H2R)Policy=DP, Visual Encoder=MAE, Pre-training Data=H2R2025.05 | 55 | 60 | 65 | 60 | |
| MAE (H2R)Policy=ACT2025.05 | 50 | 50 | 40 | 46.7 | |
| MAE (SSv2)Policy=ACT2025.05 | 45 | 25 | 30 | 33.3 | |
| MAE (SSv2)Policy=DP2025.05 | 40 | 35 | 45 | 40 | |
| MAE (SSv2)Policy=DP, Visual Encoder=MAE, Pre-training Data=SSv22025.05 | 40 | 35 | 45 | 40 | |
| R3M (H2R)Policy=DP2025.05 | 35 | 50 | 45 | 43.3 | |
| R3M (H2R)Policy=ACT2025.05 | 35 | 60 | 20 | 38.3 | |
| R3M (H2R)Policy=DP, Visual Encoder=R3M, Pre-training Data=H2R2025.05 | 35 | 50 | 45 | 43.3 | |
| R3M (SSv2)Policy=DP2025.05 | 10 | 20 | 40 | 23.3 | |
| R3M (SSv2)Policy=ACT2025.05 | 10 | 20 | 15 | 15 | |
| R3M (SSv2)Policy=DP, Visual Encoder=R3M, Pre-training Data=SSv22025.05 | 10 | 20 | 40 | 23.3 |