Tool-use Grasping on Hammer Simulation v1 (test)
100Success RateRL base
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| RL base2026.02 | 100 | 0.93 | 4.07 | |
| RL base + contact rewardreward=contact reward2026.02 | 100 | 0.86 | 3.99 | |
| RL base + pre-grasp poseinitialization=pre-grasp pose2026.02 | 100 | 0.88 | 9.48 | |
| G2A w/o Adaptationadaptation=false2026.02 | 100 | 0.82 | 7.33 | |
| G2A (ours)adaptation=true2026.02 | 100 | 0.69 | 1.35 | |
| RL base + eigengraspaction space=eigengrasp2026.02 | 67.2 | 1.7 | 14.36 | |
| Analytical2026.02 | 0 | — | — |