Simulation Robotic Manipulation on SimplerEnv Google Robot setup
86.1Horizontal LayingSOFAR
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| SOFAREvaluation Setup=Variant Aggregation, Training Data=Zero-Shot2025.02 | 86.1 | 96 | 90.1 | 90.7 | 74 | 20 | 39.4 | 29.7 | 67.6 | |
| RT-2-XEvaluation Setup=Variant Aggregation, Training Data=OXE2025.02 | 82.2 | 75.4 | 89.3 | 82.3 | 79.2 | 33.3 | 37.2 | 35.3 | 66.1 | |
| RT-1-XEvaluation Setup=Visual Matching, Training Data=OXE2025.02 | 82 | 33 | 55 | 56.7 | 31.7 | 29.6 | 89.1 | 59.7 | 53.4 | |
| SOFAREvaluation Setup=Visual Matching, Training Data=Zero-Shot2025.02 | 77 | 100 | 100 | 92.3 | 91.7 | 22.7 | 57.8 | 40.3 | 74.9 | |
| RT-2-XEvaluation Setup=Visual Matching, Training Data=OXE2025.02 | 74 | 74 | 88 | 78.7 | 77.9 | 15.7 | 34.3 | 25 | 60.6 | |
| OpenVLAEvaluation Setup=Variant Aggregation, Training Data=OXE2025.02 | 71.1 | 27.1 | 65.3 | 54.5 | 47.7 | 15.8 | 19.5 | 17.7 | 41.1 | |
| RT-1-XEvaluation Setup=Variant Aggregation, Training Data=OXE2025.02 | 56.9 | 20.4 | 69.8 | 49 | 32.3 | 6.9 | 51.9 | 29.4 | 39.7 | |
| OpenVLAEvaluation Setup=Visual Matching, Training Data=OXE2025.02 | 27 | 3 | 19 | 16.3 | 46.2 | 19.4 | 51.8 | 35.6 | 27.7 | |
| Octo-BaseEvaluation Setup=Visual Matching, Training Data=OXE2025.02 | 21 | 21 | 9 | 17 | 4.2 | 0.9 | 44.4 | 22.7 | 16.8 | |
| Octo-BaseEvaluation Setup=Variant Aggregation, Training Data=OXE2025.02 | 0.5 | 0 | 1.3 | 0.6 | 3.1 | 0 | 2.1 | 1.1 | 1.2 |