Robotic Grasping on 13 everyday objects H1-2 humanoid robot (test)
60Bell Pepper SuccessLEGO
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LEGOpretraining=none, demonstrations=5002025.10 | 60 | 40 | 60 | 40 | 60 | 60 | 60 | 60 | 60 | 20 | 60 | 60 | 20 | 50.77 | |
| π0-FASTstatus=finetuned on our data2025.10 | 20 | 20 | 0 | 20 | 20 | 20 | 40 | 60 | 40 | 40 | 40 | 20 | 0 | 26.15 | |
| OpenVLA-OFTstatus=finetuned on our data2025.10 | 0 | 0 | 40 | 20 | 20 | 0 | 40 | 60 | 0 | 0 | 60 | 0 | 0 | 18.46 |