Robotic Manipulation on Four simulated robotic tasks In-domain
73Success RateP ⊖ Overlay
Evaluation results
| Method | Links | |
|---|---|---|
| P ⊖ OverlayMethod/Ablation Identity=PALM without TCP Overlay, TCP-centric Crop=true, TCP Overlay=false, Data Augmentation=true, Proprioception Alignment=true2026.01 | 73 | |
| P ⊖ AugMethod/Ablation Identity=PALM without Data Augmentation, TCP-centric Crop=true, TCP Overlay=true, Data Augmentation=false, Proprioception Alignment=true2026.01 | 73 | |
| PALMMethod/Ablation Identity=Full PALM pipeline, TCP-centric Crop=true, TCP Overlay=true, Data Augmentation=true, Proprioception Alignment=true2026.01 | 72 | |
| P ⊖ PropMethod/Ablation Identity=PALM without Proprioception Alignment, TCP-centric Crop=true, TCP Overlay=true, Data Augmentation=true, Proprioception Alignment=false2026.01 | 70 | |
| BCMethod/Ablation Identity=Vanilla BC, TCP-centric Crop=false, TCP Overlay=false, Data Augmentation=false, Proprioception Alignment=false2026.01 | 52 | |
| MirrorDuoMethod/Ablation Identity=MirrorDuo2026.01 | 47 | |
| ARROMethod/Ablation Identity=ARRO2026.01 | 41 | |
| P ⊖ CropMethod/Ablation Identity=PALM without TCP-centric crop, TCP-centric Crop=false, TCP Overlay=true, Data Augmentation=true, Proprioception Alignment=true2026.01 | 35 | |
| RoVi-AugMethod/Ablation Identity=RoVi-Aug2026.01 | 26 |