Robot Manipulation on RLBench Large Shift
-16.1Rel. Drop (Avg)PerAct
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PerActTraining=Multi-task2026.01 | -16.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.6 | |
| GEM3DTraining=Multi-task2026.01 | 3.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.4 | |
| GEM3D2026.01 | 3.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ManiGaussianDistillation=true, Training=Multi-task2026.01 | 10.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 26.5 | |
| ManiGaussiandistillation=true2026.01 | 10.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PerAct2026.01 | 16.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GEM3DTraining=Single-task2026.01 | 29.67 | 30.2 | 32.46 | 26 | 41.35 | 45.3 | 19.05 | 39 | 42.08 | 35.8 | 10.42 | 40.3 | 33.88 | — | — | — | — | 36.1 | |
| ManiGaussianDistillation=true, Training=Single-task2026.01 | 39.43 | 21.5 | 45.16 | 16.3 | 67.92 | 32 | 29.69 | 33.7 | 41.97 | 23 | 62.38 | 28.2 | 53.42 | — | — | — | — | 25.8 | |
| ManiGaussianTraining=Single-task2026.01 | 51.52 | 10.3 | 62.2 | 16.3 | 45.57 | 27 | 38.64 | 23.7 | 64.32 | 21.5 | 43.91 | 16 | 47.83 | — | — | — | — | 19.1 | |
| PerActTraining=Single-task2026.01 | 79.87 | 2.8 | 85.11 | 15.7 | 44.69 | 9.7 | 77.86 | 1 | 98.05 | 3.3 | 87.51 | 4.8 | 69.81 | — | — | — | — | 6.2 |