Robot Manipulation on RoboMimic and MimicGen (Skill Success Rates)
92Can Success RatePoLAR
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| PoLARFine-tuning protocol=Decoder Only, Variant=Hyperbolic (Hyp)2026.06 | 92 | 61 | 80 | 22 | 21 | 55.2 | |
| PoLARFine-tuning protocol=Decoder Only, Variant=Euclidean (Euc)2026.06 | 85 | 53 | 48 | 12 | 21 | 43.8 | |
| PoLARFine-tuning protocol=Joint Fine-tuning, Variant=Hyperbolic (Hyp)2026.06 | 74 | 71 | 87 | 56 | 63 | 70.2 | |
| FlatFine-tuning protocol=Joint Fine-tuning, Architecture=5 × 162026.06 | 44 | 49 | 69 | 11 | 12 | 37 | |
| FlatFine-tuning protocol=Decoder Only2026.06 | 37 | 49 | 73 | 3 | 9 | 34.2 | |
| PoLARFine-tuning protocol=Joint Fine-tuning, Variant=Euclidean (Euc)2026.06 | 29 | 57 | 57 | 37 | 1 | 36.2 | |
| ResNet18Fine-tuning protocol=Joint Fine-tuning2026.06 | 0 | 13 | 0 | 0 | 8 | 4.2 |