Robotic Manipulation on LIBERO-PRO six position-and-task cells
61Object Positional Success RateRATS
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| RATS2026.06 | 61 | 63 | 43 | 36 | 29 | 31 | 43.8 | |
| MolmoAct2trials_per_task=502026.06 | 47.2 | 0 | 29 | 12 | 23 | 0.4 | 18.6 | |
| SPARK, Adaptive (ours)Perception Sourcing=Adaptive (three alternative text prompts SAM3 self-selects among)2026.06 | 43.4 | 36.4 | 40 | 14 | 56 | 72.4 | 43.7 | |
| SPARK, FairPerception Sourcing=Fair (task language only)2026.06 | 36.4 | 23.4 | 36.4 | 22.4 | 30 | 43 | 31.9 | |
| SPARK, +BDDL namesPerception Sourcing=+BDDL names (adds LIBERO canonical object names)2026.06 | 35 | 24 | 36.2 | 19.4 | 29.2 | 43.4 | 31.2 | |
| CAP-AGENT0 (from [33])Evaluation Protocol=RATs protocol2026.06 | 27 | 31 | 29 | 16 | 13 | 23 | 23.2 | |
| CAP-AGENT0 (original)Evaluation Protocol=original2026.06 | 22 | 18 | 26 | 17 | 12 | 14 | 18.2 | |
| π0.52026.06 | 17 | 1 | 38 | 0 | 20 | 1 | 12.8 | |
| OpenVLA2026.06 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | |
| π02026.06 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |