Robot Manipulation on RLBench (12 Skill Success Rates)
97Rubbish in Bin Success RateIP
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| IPModality=Point-cloud, Rollouts=100, Maximum Rollout Horizon=100 timesteps, Observation Setup=Three-camera (front, side, wrist)2026.06 | 97 | 98 | 78 | 77 | 66 | 45 | 78 | 60 | 42 | 88 | 75 | 65 | 72.4 | |
| SynthICLModality=RGB, Subgoal Prediction (SP)=true, Rollouts=100, Maximum Rollout Horizon=100 timesteps, Observation Setup=Three-camera (front, side, wrist)2026.06 | 96 | 92 | 80 | 78 | 89 | 68 | 75 | 68 | 37 | 81 | 73 | 73 | 75 | |
| SynthICL w/o SPModality=RGB, Subgoal Prediction (SP)=false, Rollouts=100, Maximum Rollout Horizon=100 timesteps, Observation Setup=Three-camera (front, side, wrist)2026.06 | 95 | 90 | 76 | 74 | 87 | 57 | 67 | 65 | 34 | 80 | 72 | 69 | 72.2 | |
| ICRTModality=RGB, Rollouts=100, Maximum Rollout Horizon=100 timesteps, Observation Setup=Three-camera (front, side, wrist), Training Data=Synthetic dataset2026.06 | 87 | 83 | 70 | 64 | 63 | 41 | 43 | 48 | 29 | 72 | 68 | 53 | 60.1 |