Robotic Manipulation on ManiSkill StackCube
22Success Rate (15 demos)E-E (Full FT)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| E-E (Full FT)Strategy=Full Fine-tuning2026.05 | 22 | 23 | 50 | 66 | 40.3 | |
| GAPBackbone=VC1 (ViT-B), Pooling=Geometric Anchor2026.05 | 20 | 24 | 61 | 80 | 46.3 | |
| AFABackbone=R3M, Pooling=Semantic Attention2026.05 | 9 | 14 | 25 | 44 | 23 | |
| DINOv2 + SSBackbone=DINOv2, Pooling=Spatial Softmax2026.05 | 7 | 10 | 15 | 60 | 23 | |
| R3M + SSBackbone=R3M, Pooling=Spatial Softmax2026.05 | 6 | 9 | 15 | 38 | 17.1 | |
| VC-1 + SSBackbone=VC-1, Pooling=Spatial Softmax2026.05 | 4 | 8 | 28 | 63 | 25.8 |