Robotic Manipulation on HSR Real-Robot
100Success Rate (Coffee)S2
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| S2fine-tuning steps=150k, hardware=RTX 5070, trials per task=6, query frequency=2 Hz, locomotion=true2026.06 | 100 | 87.5 | 91.7 | 83.3 | |
| 𝜋0.5fine-tuning steps=150k, hardware=RTX 5070, trials per task=6, query frequency=2 Hz, locomotion=true2026.06 | 83.3 | 45.8 | 41.7 | 66.7 | |
| X-VLAfine-tuning steps=150k, hardware=RTX 5070, trials per task=6, query frequency=2 Hz, locomotion=true2026.06 | 8.3 | 4.2 | 0 | 25 | |
| VLA-Adapterfine-tuning steps=150k, hardware=RTX 5070, trials per task=6, query frequency=2 Hz, locomotion=true2026.06 | 0 | 0 | 0 | 0 |