Robotic Manipulation on RoboTwin simulation 1.0
89Hammer Success RateRDT+BFA++
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| RDT+BFA++Backbone=RDT, FPS=1.5 Hz2026.02 | 89 | 82 | 80 | 19 | 9 | 58 | 67 | 48 | — | 56.5 | |
| π0+BFA++Backbone=π0, FPS=10.3 Hz2026.02 | 84 | 66 | 70 | 60 | 15 | 58 | 65 | 48 | — | 58.3 | |
| RDT+BFABackbone=RDT, FPS=1.7 Hz2026.02 | 84 | 80 | 59 | 22 | 5 | 42 | 59 | 40 | — | 48.9 | |
| RDTBackbone=RDT, FPS=1.0 Hz2026.02 | 83 | 78 | 48 | 15 | 5 | 48 | 61 | 38 | — | 47 | |
| π0+BFABackbone=π0, FPS=11.1 Hz2026.02 | 80 | 62 | 59 | 60 | 7 | 52 | 65 | 34 | — | 52.4 | |
| π0Backbone=π0, FPS=6.5 Hz2026.02 | 78 | 52 | 65 | 54 | 7 | 46 | 59 | 36 | — | 49.6 | |
| RDT+DARTBackbone=RDT, FPS=1.6 Hz2026.02 | 71 | 70 | 58 | 7 | 3 | 48 | 41 | 24 | — | 40.3 | |
| π0+DARTBackbone=π0, FPS=9.8 Hz2026.02 | 70 | 53 | 64 | 41 | 8 | 50 | 49 | 30 | — | 45.6 |