Robotic Manipulation on ManiSkill (Cube/Sphere Primitives)
94.2StackCube Success RateFORCE (Octo)
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| FORCE (Octo)Group=RL, Backbone=Octo2026.06 | 94.2 | 99 | 100 | 19 | 85.1 | 96.7 | 82.3 | |
| FORCE (pi0)Group=RL, Backbone=pi02026.06 | 93.2 | 100 | 100 | 36.7 | 97.5 | 94.1 | 86.9 | |
| ConRFT (no HIL)Group=RL2026.06 | 82.1 | 91.7 | 95.9 | 0 | 69.8 | 87.2 | 71.1 | |
| PA-RLGroup=RL2026.06 | 73.9 | 81.1 | 93.7 | 0 | 0 | 52.4 | 50.2 | |
| Cal-QLGroup=RL2026.06 | 65.2 | 84.9 | 96.7 | 0 | 0 | 24.2 | 45.2 | |
| pi0Group=BC, Backbone=pi02026.06 | 60 | 87.5 | 70 | 7.5 | 27.5 | 2.5 | 42.5 | |
| pi0.5Group=BC, Backbone=pi0.52026.06 | 50 | 87.5 | 100 | 7.5 | 15 | 5 | 44.17 | |
| OctoGroup=BC, Backbone=Octo2026.06 | 0 | 0 | 13 | 0 | 0 | 8.5 | 3.58 | |
| CQLGroup=RL2026.06 | 0 | 0 | 92.2 | 0 | 0 | 2.1 | 15.7 |