Robot Manipulation on VR-GPS 9 objects (test)
93Box Success RateGPS-GT
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GPS-GTAffordance Source=Ground Truth2026.06 | 93 | 93 | 87 | 93 | 87 | 90 | 90 | 93 | 97 | 91 | 91 | |
| GPSFine-tuning=none (zero-shot), Source=Learned model2026.06 | 93 | 90 | 67 | 67 | 60 | 73 | 70 | 67 | 73 | 75 | 73 | |
| GPS-mˆPrediction Target=m coordinates, Ablation=Predicting m instead of p2026.06 | 77 | 57 | 53 | 53 | 50 | 63 | 70 | 33 | 67 | 58 | 58 | |
| CAPNetPrediction=part bounding box2026.06 | 60 | 30 | 63 | 40 | 43 | 13 | 27 | 13 | 7 | 47 | 33 | |
| GFlowPolicy=heuristic, Execution Steps=42026.06 | 60 | 37 | 60 | 17 | 53 | 17 | 27 | 23 | 20 | 45 | 35 |