Robotic Manipulation on Robomimic Can (Success Rate by Demo Count)
62Success Rate (15 demos)GAP
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GAPBackbone=VC1 (ViT-B), Pooling=Geometric Anchor2026.05 | 62 | 80 | 94 | 96 | 83 | |
| E-E (Full FT)Strategy=Full Fine-tuning2026.05 | 55 | 76 | 88 | 95 | 78.5 | |
| DINOv2 + SSBackbone=DINOv2, Pooling=Spatial Softmax2026.05 | 51 | 68 | 73 | 86 | 69.5 | |
| R3M + SSBackbone=R3M, Pooling=Spatial Softmax2026.05 | 50 | 75 | 78 | 86 | 72.3 | |
| VC-1 + SSBackbone=VC-1, Pooling=Spatial Softmax2026.05 | 49 | 64 | 82 | 89 | 71 | |
| AFABackbone=VC-1, Pooling=Semantic Attention2026.05 | 46 | 74 | 78 | 93 | 72.8 |