Tool-use Grasping on Cut Simulation v1 (test)
100Success RateG2A w/o Adaptation
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| G2A w/o Adaptationadaptation=false2026.02 | 100 | 0.54 | 3.53 | |
| G2A (ours)adaptation=true2026.02 | 100 | 0.48 | 2.23 | |
| RL base2026.02 | 81.2 | 0.85 | 6.25 | |
| RL base + contact rewardreward=contact reward2026.02 | 74.6 | 0.94 | 7.43 | |
| RL base + pre-grasp poseinitialization=pre-grasp pose2026.02 | 20.4 | 2.2 | 17.04 | |
| Analytical2026.02 | 0 | — | — | |
| RL base + eigengraspaction space=eigengrasp2026.02 | 0 | — | — |