Robotic Manipulation on RLBench (Custom Metric Set)
79.3Mean Success RateGeoProp
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GeoPropBackbone=ResNet-18, Delta Params=+3.0%2026.07 | 79.3 | — | — | — | — | — | — | — | — | — | — | |
| GeoPropBackbone=ViT-Base, Delta Params=+2.3%2026.07 | 79.3 | — | — | — | — | — | — | — | — | — | — | |
| No-ProprioBackbone=ViT-Base2026.07 | 70.7 | — | — | — | — | — | — | — | — | — | — | |
| No-ProprioBackbone=ResNet-182026.07 | 68 | — | — | — | — | — | — | — | — | — | — | |
| VanillaBackbone=ResNet-182026.07 | 66 | — | — | — | — | — | — | — | — | — | — | |
| VanillaBackbone=ViT-Base2026.07 | 65.3 | — | — | — | — | — | — | — | — | — | — | |
| OursEvaluation Policy=ACT policy, PL-VAE=true2026.05 | 56 | 62 | 100 | 80 | 12 | 28 | 76 | 74 | 52 | 18 | 1.5 | |
| Lift3DEvaluation Policy=ACT policy2026.05 | 50 | 54 | 100 | 74 | 4 | 16 | 58 | 72 | 54 | 20 | 3.61 | |
| No.VAEEvaluation Policy=ACT policy, PL-VAE=false2026.05 | 49 | 56 | 100 | 76 | 8 | 24 | 48 | 68 | 48 | 16 | 3.56 | |
| PonderV2Evaluation Policy=ACT policy2026.05 | 42 | 60 | 96 | 72 | 0 | 28 | 64 | 16 | 28 | 16 | 4.83 | |
| PTV3Evaluation Policy=ACT policy2026.05 | 41 | 40 | 96 | 68 | 4 | 4 | 44 | 64 | 44 | 4 | 6.5 | |
| GSRLEvaluation Policy=ACT policy2026.05 | 38 | 52 | 92 | 60 | 2 | 26 | 62 | 40 | 4 | 8 | 6.11 | |
| SpUNetEvaluation Policy=ACT policy2026.05 | 32 | 44 | 90 | 72 | 0 | 20 | 60 | 0 | 4 | 0 | 7.39 | |
| VC-1Evaluation Policy=ACT policy2026.05 | 31 | 24 | 96 | 12 | 4 | 20 | 72 | 44 | 8 | 0 | 6.5 | |
| MultiMAEEvaluation Policy=ACT policy2026.05 | 31 | 36 | 100 | 4 | 8 | 16 | 56 | 48 | 0 | 8 | 6.44 | |
| MultiViTEvaluation Policy=ACT policy2026.05 | 21 | 8 | 100 | 36 | 0 | 4 | 28 | 14 | 0 | 0 | 8.56 |