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ResearchFormerly WizWand

Robotic Manipulation on Physical-world environment UR3e manipulator

89Completion Accuracy (CA)Clean baseline
23.4840.4957.574.51Nov 18, 2024
Updated 7mo ago

Evaluation results

MethodLinks
Clean baselineRBA scheme=w/o, VLM=Qwen-vl-max [77]2024.1189—
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), VLM=Qwen-vl-max [77]2024.118972
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), VLM=Qwen-vl-max [77]2024.118983
Clean baselineRBA scheme=w/o, VLM=Qwen-vl max-latest [77]2024.1180—
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, VLM=Qwen-vl-max [77]2024.118019
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), VLM=Qwen-vl max-latest [77]2024.118074
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), VLM=Qwen-vl max-latest [77]2024.118076
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, VLM=Qwen-vl max-latest [77]2024.117224
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), VLM=Qwen-vl-max [77]2024.117250
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), VLM=Qwen-vl max-latest [77]2024.116948
Clean baselineRBA scheme=w/o, VLM=OWLv2 [42]2024.1135—
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), VLM=OWLv2 [42]2024.113533
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), VLM=OWLv2 [42]2024.113519
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), VLM=OWLv2 [42]2024.113317
Clean baselineRBA scheme=w/o, VLM=MiniGPT-v2 [4]2024.1131—
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, VLM=MiniGPT-v2 [4]2024.11319
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), VLM=MiniGPT-v2 [4]2024.113143
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), VLM=MiniGPT-v2 [4]2024.11310
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, VLM=OWLv2 [42]2024.113015
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), VLM=MiniGPT-v2 [4]2024.112624