Robotic Manipulation on RLBench (Skills: Insert-Peg, Meat-off-Grill, Open-Drawer, Place-Wine, Turn-Tap)
81.1Average Success RateSee2Act
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| See2Act2026.06 | 81.1 | 24 | 98 | 92 | 99 | 60 | 96 | 100 | 69 | 92 | |
| RVT-22026.06 | 77.9 | 40 | 99 | 74 | 95 | 66 | 96 | 92 | 35 | 99 | |
| Act3D2026.06 | 70.5 | 27 | 94 | 93 | 80 | 51 | 95 | 93 | 8 | 94 | |
| RVT2026.06 | 68.1 | 11.2 | 88 | 71.2 | 91 | 49.6 | 91.2 | 81.6 | 36 | 93.6 | |
| PolarNet2026.06 | 57.6 | 4 | 100 | 84 | 40 | 12 | 84 | 56 | 12 | 80 | |
| PerAct2026.06 | 55.5 | 5.6 | 70.4 | 88 | 44.8 | 28 | 84 | 74 | 16.8 | 88 | |
| HiveFormer2026.06 | 54.7 | 0 | 100 | 52 | 80 | 32 | 76 | 64 | 8 | 80 | |
| C2F-ARM-BC2026.06 | 17.3 | 4 | 20 | 20 | 8 | 0 | 12 | 16 | 8 | 68 | |
| Image-BC (CNN)Backbone=CNN2026.06 | 1.8 | 0 | 0 | 4 | 0 | 0 | 4 | 0 | 0 | 8 | |
| Image-BC (ViT)Backbone=ViT2026.06 | 1.8 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 16 |