Tool-use Grasping on Scoop Simulation v1 (test)
100Success RateRL base
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| RL base2026.02 | 100 | 0.52 | 2.57 | |
| RL base + contact rewardreward=contact reward2026.02 | 100 | 0.46 | 1.94 | |
| G2A w/o Adaptationadaptation=false2026.02 | 100 | 0.69 | 3.69 | |
| G2A (ours)adaptation=true2026.02 | 100 | 0.17 | 1.25 | |
| RL base + pre-grasp poseinitialization=pre-grasp pose2026.02 | 96.9 | 1.23 | 6.32 | |
| Analytical2026.02 | 0 | — | — | |
| RL base + eigengraspaction space=eigengrasp2026.02 | 0 | — | — |