Robotic Manipulation on RoboTwin
80.7Success RateVidarc
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| VidarcEmbodiment-aware=true, Closed-loop=true2025.12 | 80.7 | 65 | 55 | 45 | 85 | |
| VidarcEmbodiment-aware=false, Closed-loop=true2025.12 | 74.6 | 50 | 65 | 20 | 70 | |
| Vidar2025.12 | 71.1 | 0 | 50 | 50 | 0 | |
| VidarcEmbodiment-aware=true, Closed-loop=false2025.12 | 66.8 | 25 | 40 | 35 | 50 | |
| GeoPropBackbone=ResNet-18, Delta Params=+3.0%2026.07 | 62.9 | — | — | — | — | |
| VanillaBackbone=ResNet-182026.07 | 53.7 | — | — | — | — | |
| No-ProprioBackbone=ResNet-182026.07 | 53.7 | — | — | — | — | |
| Pi0.52025.12 | 52.9 | 20 | 30 | 35 | 15 | |
| GeoPropBackbone=ViT-Base, Delta Params=+2.3%2026.07 | 52 | — | — | — | — | |
| MVISTA-4Dtype=Full model2026.02 | 43 | — | — | — | — | |
| No-ProprioBackbone=ViT-Base2026.07 | 42.9 | — | — | — | — | |
| w/o R-IDMtype=Ablation, description=removes the residual IDM2026.02 | 42.8 | — | — | — | — | |
| Act-Headtype=Ablation, description=skips latent optimization and uses action-head prediction2026.02 | 42.5 | — | — | — | — | |
| Full IDMtype=Ablation, description=point-based inverse dynamics model2026.02 | 41.7 | — | — | — | — | |
| VanillaBackbone=ViT-Base2026.07 | 41.1 | — | — | — | — | |
| 4DGentype=Baseline2026.02 | 40.2 | — | — | — | — | |
| TesserActtype=Baseline2026.02 | 33.9 | — | — | — | — | |
| P-ACTtype=Baseline2026.02 | 20.5 | — | — | — | — | |
| UniPi*type=Baseline2026.02 | 16.3 | — | — | — | — |