Robotic Manipulation on Real-world UR10e Robot Novel Viewpoint (target domain)
91.7Success Rate (Eggplant)DART
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| DARTModel variant=π0.5, Adaptation setting=One-shot, Adaptation source=single Stack Cube demonstration, Domain shift=Novel Viewpoint2026.07 | 91.7 | 91.7 | 83.3 | 41.7 | 100 | 81.7 | |
| One-shot FTModel variant=π0.5, Adaptation setting=One-shot, Adaptation source=single Stack Cube demonstration, Domain shift=Novel Viewpoint2026.07 | 58.3 | 58.3 | 41.7 | 33.3 | 66.7 | 51.7 | |
| RETAINModel variant=π0.5, Adaptation setting=One-shot, Adaptation source=single Stack Cube demonstration, Domain shift=Novel Viewpoint2026.07 | 58.3 | 41.7 | 41.7 | 16.7 | 83.3 | 48.3 | |
| FLAModel variant=π0.5, Adaptation setting=One-shot, Adaptation source=single Stack Cube demonstration, Domain shift=Novel Viewpoint2026.07 | 58.3 | 50 | 50 | 16.7 | 100 | 55 | |
| Zero-shotModel variant=π0.5, Adaptation setting=Zero-shot, Domain shift=Novel Viewpoint2026.07 | 50 | 33.3 | 41.7 | 16.7 | 75 | 43.3 |