Robotic Manipulation on RLBench (Specific Skill Subset with S.R. and VGS)
96SR: Close Boxπ0
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| π0Base Policy=π0, Setting=Standard, Angle=0°2026.04 | 96 | 84 | 84 | 96 | 68 | 56 | 92 | 92 | 84 | — | |
| VistaBot + π0Base Policy=π0, Setting=Ours, Angle=+30°2026.04 | 92 | 56 | 76 | 92 | 80 | 48 | 72 | 96 | 76 | 87 | |
| ACTBase Policy=ACT, Setting=Standard, Angle=0°2026.04 | 84 | 60 | 84 | 96 | 64 | 80 | 96 | 100 | 83 | — | |
| VistaBot + ACTBase Policy=ACT, Setting=Ours, Angle=-30°2026.04 | 76 | 44 | 40 | 72 | 64 | 52 | 64 | 100 | 64 | 67 | |
| VistaBot + π0Base Policy=π0, Setting=Ours, Angle=-30°2026.04 | 76 | 60 | 68 | 52 | 72 | 76 | 80 | 100 | 73 | 87 | |
| VistaBot + π0Base Policy=π0, Setting=Ours, Angle=+45°2026.04 | 76 | 72 | 72 | 88 | 76 | 52 | 84 | 84 | 76 | 87 | |
| π0Base Policy=π0, Setting=Default, Angle=+30°2026.04 | 72 | 60 | 20 | 12 | 32 | 0 | 64 | 40 | 38 | 33 | |
| VistaBot + ACTBase Policy=ACT, Setting=Ours, Angle=+30°2026.04 | 60 | 44 | 52 | 76 | 68 | 48 | 68 | 92 | 64 | 67 | |
| π0Base Policy=π0, Setting=Default, Angle=+45°2026.04 | 60 | 40 | 8 | 16 | 4 | 8 | 24 | 36 | 24 | 33 | |
| ACTBase Policy=ACT, Setting=Default, Angle=+30°2026.04 | 56 | 20 | 4 | 8 | 8 | 4 | 32 | 64 | 25 | 24 | |
| VistaBot + ACTBase Policy=ACT, Setting=Ours, Angle=+45°2026.04 | 56 | 40 | 32 | 28 | 64 | 40 | 60 | 92 | 52 | 67 | |
| VistaBot + π0Base Policy=π0, Setting=Ours, Angle=-45°2026.04 | 44 | 60 | 56 | 36 | 76 | 48 | 80 | 92 | 62 | 87 | |
| VistaBot + ACTBase Policy=ACT, Setting=Ours, Angle=-45°2026.04 | 40 | 36 | 40 | 32 | 52 | 12 | 32 | 92 | 42 | 67 | |
| ACTBase Policy=ACT, Setting=Default, Angle=-30°2026.04 | 32 | 20 | 0 | 32 | 32 | 8 | 40 | 68 | 28 | 24 | |
| ACTBase Policy=ACT, Setting=Default, Angle=+45°2026.04 | 28 | 16 | 0 | 8 | 8 | 0 | 8 | 32 | 13 | 24 | |
| π0Base Policy=π0, Setting=Default, Angle=-45°2026.04 | 24 | 24 | 4 | 28 | 16 | 0 | 32 | 52 | 23 | 33 | |
| ACTBase Policy=ACT, Setting=Default, Angle=-45°2026.04 | 20 | 20 | 0 | 8 | 8 | 0 | 32 | 40 | 16 | 24 | |
| π0Base Policy=π0, Setting=Default, Angle=-30°2026.04 | 20 | 32 | 24 | 24 | 20 | 12 | 56 | 68 | 32 | 33 |