Robotic Manipulation on SIMPLER WidowX Environment (Partial/Entire Success)
66.7Spoon on cloth (Part.)TAP-20k episodes
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TAP-20k episodesType=Ours, Pre-training episodes=20k, Fine-tuning trajectories=5k2026.07 | 66.7 | 58.3 | 50 | 0 | 58.3 | 16.7 | 8.3 | 8.3 | 45.82 | 20.82 | 33.32 | |
| OctoType=Reference2026.07 | 50 | 33 | 50 | 25 | 29.2 | 0 | 40 | 23.3 | 42.3 | 20.33 | 31.31 | |
| TAP-8k episodesType=Ours, Pre-training episodes=8k, Fine-tuning trajectories=5k2026.07 | 50 | 37.5 | 37.5 | 8.3 | 58.3 | 4.2 | 0 | 0 | 36.45 | 12.5 | 24.47 | |
| π0Type=Reference, Fine-tuning trajectories=5k2026.07 | 45.8 | 29.1 | 25 | 0 | 50 | 16.7 | 91.6 | 62.5 | 53.1 | 27.05 | 40.08 | |
| Standard BCType=Baseline2026.07 | 41.7 | 33.3 | 48 | 8 | 37.5 | 16.7 | 0 | 0 | 31.79 | 14.5 | 23.15 | |
| TAP-14k episodesType=Ours, Pre-training episodes=14k, Fine-tuning trajectories=5k2026.07 | 41.7 | 33.3 | 50 | 16.7 | 83.3 | 12.5 | 4.2 | 0 | 44.8 | 15.62 | 30.21 | |
| NoraType=Reference, Fine-tuning trajectories=5k2026.07 | 37.5 | 16.7 | 48 | 0 | 41.7 | 12.5 | 4.17 | 0 | 32.84 | 7.29 | 20.06 | |
| RT-1-XType=Reference2026.07 | 4.2 | 0 | 16.7 | 0 | 0 | 0 | 3.3 | 0 | 6.05 | 0 | 3.03 | |
| OpenVLAType=Reference, Fine-tuning trajectories=5k2026.07 | 4.1 | 0 | 33 | 0 | 12.5 | 0 | 8.3 | 4.1 | 14.48 | 1.03 | 7.75 |