Robotic Manipulation on DROID UMI Gripper Unseen v1 (test)
97.9Pick and Place Progression RateCloak-VLA (ours)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Cloak-VLA (ours)Embodiment=UMI Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=random2026.06 | 97.9 | 91.7 | 72.9 | 77.8 | 85.1 | |
| π0.5-droid + TP retargetingEmbodiment=UMI Gripper (Unseen), Zero-shot transfer=true, TP retargeting=true2026.06 | 95.8 | 69.3 | 43.8 | 67 | 69 | |
| Cloak-VLA-OverlapEmbodiment=UMI Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=overlap2026.06 | 93.8 | 86.1 | 70.8 | 77.9 | 82.1 | |
| Cloak-VLA-NoAugEmbodiment=UMI Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=none2026.06 | 89.6 | 88.8 | 70.8 | 83.5 | 83.2 | |
| LAP-VLAEmbodiment=UMI Gripper (Unseen), Zero-shot transfer=true2026.06 | 70.8 | 52.7 | 56.2 | 64 | 60.9 |