Robot Manipulation on Robot Manipulation Tasks Unseen Background OOD (OOD)
90Pick Fruit Success RateHarmoWAM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| HarmoWAMGen Scenario=Background, zero-shot=true2026.05 | 90 | 78 | 83 | 82 | 73 | 78 | 81 | |
| HarmoWAMGen Scenario=Objects, zero-shot=true2026.05 | 88 | 85 | 88 | 87 | 80 | 81 | 85 | |
| Cosmos-PolicyGen Scenario=Background, zero-shot=true2026.05 | 85 | 38 | 73 | 57 | 42 | 48 | 57 | |
| Cosmos-PolicyGen Scenario=Objects, zero-shot=true2026.05 | 80 | 38 | 68 | 22 | 50 | 44 | 50 | |
| VPPGen Scenario=Objects, zero-shot=true2026.05 | 68 | 40 | 68 | 50 | — | — | 57 | |
| π0.5Gen Scenario=Background, zero-shot=true2026.05 | 65 | 40 | 63 | 67 | 62 | 60 | 60 | |
| Wan+AnyposGen Scenario=Objects, zero-shot=true2026.05 | 63 | 65 | 68 | 68 | 40 | 43 | 58 | |
| QwenVLA-OFTGen Scenario=Objects, zero-shot=true2026.05 | 63 | 10 | 73 | 52 | — | — | 50 | |
| Wan+AnyposGen Scenario=Background, zero-shot=true2026.05 | 58 | 43 | 65 | 65 | 47 | 38 | 53 | |
| π0.5Gen Scenario=Objects, zero-shot=true2026.05 | 55 | 43 | 53 | 63 | 60 | 49 | 54 | |
| QwenVLA-OFTGen Scenario=Background, zero-shot=true2026.05 | 48 | 13 | 58 | 63 | — | — | 46 | |
| VPPGen Scenario=Background, zero-shot=true2026.05 | 38 | 25 | 68 | 40 | — | — | 43 |