Robotic Manipulation on Aloha-Simulation Peg Insertion
18.8Success RateGaze-Regularized VLA
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=30k2026.03 | 18.8 | 3.8 | |
| Base ModelGaze Regularization=Disabled, Steps=30k2026.03 | 15 | — | |
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=20k2026.03 | 12.5 | 3.7 | |
| Base ModelGaze Regularization=Disabled, Steps=20k2026.03 | 8.8 | — | |
| Base ModelGaze Regularization=Disabled, Steps=10k2026.03 | 0 | — | |
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=10k2026.03 | 0 | 0 |