Robotic Manipulation on DROID YAM Arm and Gripper Unseen v1 (test)
93.8Pick and Place Progression RateCloak-VLA (ours)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Cloak-VLA (ours)Embodiment=YAM Arm and Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=random2026.06 | 93.8 | 97.2 | 70.8 | 83.4 | 86.3 | |
| Cloak-VLA-NoAugEmbodiment=YAM Arm and Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=none2026.06 | 91.7 | 69.4 | 83.3 | 66.8 | 77.8 | |
| LAP-VLAEmbodiment=YAM Arm and Gripper (Unseen), Zero-shot transfer=true2026.06 | 77.1 | 72.2 | 60.4 | 64.1 | 68.5 | |
| π0.5-droid + TP retargetingEmbodiment=YAM Arm and Gripper (Unseen), Zero-shot transfer=true, TP retargeting=true2026.06 | 68.8 | 80.5 | 47.9 | 80.7 | 69.5 | |
| Cloak-VLA-OverlapEmbodiment=YAM Arm and Gripper (Unseen), Zero-shot transfer=true, Mask augmentation=overlap2026.06 | 58.3 | 80.5 | 62.5 | 86.2 | 71.9 |