Robotic Manipulation on Robomimic Tool Hang (Success Rate by Demo Count)
53Average Success RateLFM
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| LFMEpochs=200, Number of rollouts=1002024.10 | 53 | — | — | — | — | — | |
| FMEpochs=200, Number of rollouts=1002024.10 | 52 | — | — | — | — | — | |
| GAPBackbone=VC1 (ViT-B), Pooling=Geometric Anchor2026.05 | 40 | 27 | 33 | 37 | 63 | — | |
| AFABackbone=R3M, Pooling=Semantic Attention2026.05 | 29.5 | 20 | 23 | 30 | 45 | — | |
| R3M + SSBackbone=R3M, Pooling=Spatial Softmax2026.05 | 27.5 | 16 | 17 | 27 | 50 | — | |
| VC-1 + SSBackbone=VC-1, Pooling=Spatial Softmax2026.05 | 25 | 20 | 17 | 20 | 43 | — | |
| DINOv2 + SSBackbone=DINOv2, Pooling=Spatial Softmax2026.05 | 19.8 | 23 | 13 | 20 | 23 | — | |
| E-E (Full FT)Strategy=Full Fine-tuning2026.05 | 18 | 6 | 20 | 13 | 33 | — | |
| Base PolicyMethod Type=Base Policy2026.06 | — | — | — | — | — | 3.12 | |
| LPBGuidance Protocol=Test-Time Guidance2026.06 | — | — | — | — | — | 3.12 | |
| PCGGuidance Protocol=Test-Time Guidance2026.06 | — | — | — | — | — | 3.84 | |
| ReGuide-FSMethod Type=Self-Supervised2026.06 | — | — | — | — | — | 16.56 | |
| ReGuide-FS → FTMethod Type=Composition2026.06 | — | — | — | — | — | 23.32 | |
| ReGuide-FTIteration=12026.06 | — | — | — | — | — | 15.92 | |
| ReGuide-FTIteration=22026.06 | — | — | — | — | — | 24.04 |