Success Rate Estimation on RoboMME STOPCUBE
90Success RateHuman (oracle planner)
Evaluation results
| Method | Links | |
|---|---|---|
| Human (oracle planner)Family=Oracle / upper bounds, Oracle status=Oracle2026.06 | 90 | |
| GroundSG+OracleFamily=Symbolic + oracle, Oracle status=Oracle2026.06 | 49.7 | |
| FrameSamp+ModulFamily=Perceptual memory (frame-level, dense), Prompting Condition=Modul2026.06 | 42 | |
| FrameSamp+ExpertFamily=Perceptual memory (frame-level, dense), Prompting Condition=Expert2026.06 | 28.9 | |
| WeaveLAFamily=This work — per-event latent memory, Training Task Scale=6-task, Configuration=π0.5+AP2026.06 | 22 | |
| FrameSamp+ContextFamily=Perceptual memory (frame-level, dense), Prompting Condition=Context2026.06 | 13.7 | |
| WeaveLAFamily=This work — per-event latent memory, Training Task Scale=16-task, Configuration=π0.5+AP2026.06 | 12 | |
| π0.5Family=No-memory / minimal-memory π0.5 baselines, Memory Type=No memory2026.06 | 6.7 | |
| RMT+ContextFamily=Recurrent memory, Prompting Condition=Context2026.06 | 5.8 | |
| RMT+ExpertFamily=Recurrent memory, Prompting Condition=Expert2026.06 | 5.6 | |
| TokenDrop+ModulFamily=Perceptual memory (token-level), Prompting Condition=Modul2026.06 | 5.3 | |
| π0.5 w/ past actionsFamily=No-memory / minimal-memory π0.5 baselines, Memory Type=Past actions concatenated2026.06 | 4.7 | |
| RMT+ModulFamily=Recurrent memory, Prompting Condition=Modul2026.06 | 4.7 | |
| TokenDrop+ExpertFamily=Perceptual memory (token-level), Prompting Condition=Expert2026.06 | 4.2 | |
| TTT+ExpertFamily=Recurrent memory, Prompting Condition=Expert2026.06 | 4 | |
| TTT+ContextFamily=Recurrent memory, Prompting Condition=Context2026.06 | 3.3 | |
| TokenDrop+ContextFamily=Perceptual memory (token-level), Prompting Condition=Context2026.06 | 3.1 | |
| GroundSG+GeminiFamily=Symbolic memory (non-oracle subgoal predictors), Memory Type=Symbolic + Gemini2026.06 | 3 | |
| TTT+ModulFamily=Recurrent memory, Prompting Condition=Modul2026.06 | 2.1 | |
| SimpleSG+GeminiFamily=Symbolic memory (non-oracle subgoal predictors), Memory Type=Symbolic + Gemini2026.06 | 2 | |
| SimpleSG+QwenVLFamily=Symbolic memory (non-oracle subgoal predictors), Memory Type=Symbolic + QwenVL2026.06 | 0.4 | |
| MemERFamily=Prior memory-augmented baselines, Memory Type=Perceptual + symbolic2026.06 | 0 | |
| SAM2Act+Family=Prior memory-augmented baselines, Memory Type=Perceptual + waypoint2026.06 | 0 | |
| GroundSG+QwenVLFamily=Symbolic memory (non-oracle subgoal predictors), Memory Type=Symbolic + QwenVL2026.06 | 0 |