Robotic Manipulation on RLBench 18 tasks
89.4Average Success RateEquAct
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| EquActtraining demonstrations=100, object pose randomization=SE(2), training time t(h)=240, inference time t(s)=0.7, memory usage (GB)=212025.05 | 89.4 | 78 | 100 | 83 | 100 | 68 | 100 | 95 | 89 | 91 | 95 | 90 | 68 | 76 | 100 | 100 | 86 | 100 | 90 | |
| SAM2ACTtraining demonstrations=100, object pose randomization=SE(2), training time t(h)=225, inference time t(s)=0.1, memory usage (GB)=212025.05 | 86.8 | 83 | 86 | 99 | 98 | 89 | 98 | 93 | 75 | 99 | 99 | 76 | 78 | 47 | 96 | 99 | 64 | 100 | 84 | |
| 3DDAtraining demonstrations=100, object pose randomization=SE(2), training time t(h)=253, inference time t(s)=3.7, memory usage (GB)=202025.05 | 81.3 | 90 | 98 | 84 | 97 | 82 | 98 | 94 | 86 | 96 | 100 | 68 | 47 | 24 | 99 | 96 | 44 | 98 | 66 | |
| EquActtraining demonstrations=10, object pose randomization=SE(2), training time t(h)=240, inference time t(s)=0.7, memory usage (GB)=212025.05 | 60.1 | 74 | 56 | 61 | 100 | 53 | 91 | 95 | 22 | 52 | 90 | 35 | 18 | 62 | 56 | 84 | 33 | 85 | 14 | |
| EquActtraining demonstrations=10, object pose randomization=SE(3), training time t(h)=240, inference time t(s)=0.7, memory usage (GB)=212025.05 | 53.3 | 55 | 48 | 59 | 96 | 36 | 76 | 14 | 36 | 33 | 85 | 26 | 59 | 21 | 67 | 64 | 36 | 89 | 60 | |
| SAM2ACTtraining demonstrations=10, object pose randomization=SE(2), training time t(h)=225, inference time t(s)=0.1, memory usage (GB)=212025.05 | 52.2 | 76 | 32 | 76 | 72 | 64 | 48 | 68 | 8 | 68 | 100 | 20 | 12 | 4 | 92 | 100 | 16 | 56 | 28 | |
| 3DDAtraining demonstrations=10, object pose randomization=SE(2), training time t(h)=253, inference time t(s)=3.7, memory usage (GB)=202025.05 | 50.3 | 87 | 72 | 83 | 78 | 37 | 70 | 82 | 28 | 52 | 35 | 10 | 18 | 10 | 74 | 92 | 33 | 95 | 14 | |
| 3DDAtraining demonstrations=10, object pose randomization=SE(3), training time t(h)=253, inference time t(s)=3.7, memory usage (GB)=202025.05 | 37.9 | 30 | 43 | 95 | 96 | 5 | 62 | 73 | 9 | 24 | 60 | 16 | 9 | 0 | 48 | 14 | 14 | 79 | 5 | |
| SAM2ACTtraining demonstrations=10, object pose randomization=SE(3), training time t(h)=225, inference time t(s)=0.1, memory usage (GB)=212025.05 | 37 | 25 | 40 | 72 | 80 | 4 | 68 | 40 | 0 | 8 | 44 | 16 | 0 | 0 | 36 | 64 | 24 | 40 | 4 |