Tabletop Robot Manipulation on Robocasa Tabletop GR1
55.6Container Interaction Success RateSOMA
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SOMANumber of demonstrations=Full2026.05 | 55.6 | 46.4 | 47.5 | 49.5 | 47.6 | 49.3 | |
| Diffusion PolicyNumber of demonstrations=3002026.05 | 54.2 | 35.3 | 28.4 | 39 | 39.2 | 39.2 | |
| SOMANumber of demonstrations=3002026.05 | 53.3 | 48.4 | 54 | 55 | 48.8 | 52 | |
| SOMANumber of demonstrations=302026.05 | 52.3 | 43.6 | 44.5 | 58 | 43.2 | 48.3 | |
| SOMANumber of demonstrations=1002026.05 | 52 | 50.8 | 46.5 | 58 | 38 | 49.1 | |
| Diffusion PolicyNumber of demonstrations=1002026.05 | 49.5 | 31.4 | 18.4 | 22.3 | 32.6 | 30.8 | |
| GR00T N1.5Number of demonstrations=Full2026.05 | 40.3 | 49.2 | 39.5 | 50 | 50.8 | 45.9 | |
| GR00T N1.5Number of demonstrations=3002026.05 | 35.7 | 42.8 | 48.5 | 51 | 43.6 | 44.3 | |
| GR00T N1.5Number of demonstrations=302026.05 | 35.3 | 40.8 | 41 | 44 | 36 | 39.4 | |
| Diffusion PolicyNumber of demonstrations=302026.05 | 35.1 | 19.2 | 13.2 | 16.9 | 15.7 | 20 | |
| GR00T N1.5Number of demonstrations=1002026.05 | 33.7 | 45.2 | 47.5 | 58.5 | 40 | 44.9 | |
| StarVLA*Number of demonstrations=Full2026.05 | 3 | 27.6 | 25 | 22.5 | 28.8 | 21.4 | |
| StarVLA*Number of demonstrations=3002026.05 | 1.8 | 25.8 | 24 | 21.5 | 27.9 | 20.2 | |
| StarVLA*Number of demonstrations=302026.05 | 1.4 | 10.5 | 15 | 11.3 | 25.3 | 12.7 | |
| StarVLA*Number of demonstrations=1002026.05 | 1.1 | 14.2 | 18.5 | 15 | 28.2 | 15.4 |