Robotic Manipulation on DROID Sharpa Hand Unseen v1 (test)
93.8Pick and Place Progression RateCloak-VLA (ours)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Cloak-VLA (ours)Embodiment=Sharpa Hand (Unseen), Zero-shot transfer=true, Mask augmentation=random2026.06 | 93.8 | 86.1 | 66.7 | 80.7 | 81.8 | |
| LAP-VLAEmbodiment=Sharpa Hand (Unseen), Zero-shot transfer=true2026.06 | 81.2 | 47.1 | 54.2 | 58.3 | 60.2 | |
| Cloak-VLA-OverlapEmbodiment=Sharpa Hand (Unseen), Zero-shot transfer=true, Mask augmentation=overlap2026.06 | 75 | 74.9 | 68.8 | 69.6 | 72.1 | |
| Cloak-VLA-NoAugEmbodiment=Sharpa Hand (Unseen), Zero-shot transfer=true, Mask augmentation=none2026.06 | 64.6 | 80.7 | 45.8 | 69.5 | 65.1 | |
| π0.5-droid + TP retargetingEmbodiment=Sharpa Hand (Unseen), Zero-shot transfer=true, TP retargeting=true2026.06 | 47.9 | 72.4 | 33.3 | 64.1 | 54.4 |