Robot Manipulation Tasks Unseen Position OOD
93Pick FruitHarmoWAM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| HarmoWAMGen Scenario=Position, zero-shot=true2026.05 | 93 | 78 | 80 | 83 | 80 | 64 | 80 | |
| Wan+AnyposGen Scenario=Position, zero-shot=true2026.05 | 83 | 40 | 33 | 50 | 45 | 45 | 49 | |
| VPPGen Scenario=Position, zero-shot=true2026.05 | 28 | 10 | 20 | 33 | — | — | 23 | |
| QwenVLA-OFTGen Scenario=Position, zero-shot=true2026.05 | 28 | 10 | 33 | 42 | — | — | 28 | |
| π0.5Gen Scenario=Position, zero-shot=true2026.05 | 20 | 8 | 43 | 55 | 37 | 26 | 32 | |
| Cosmos-PolicyGen Scenario=Position, zero-shot=true2026.05 | 20 | 20 | 15 | 55 | 25 | 21 | 26 |