Visuo-tactile manipulation on UniVTAC Benchmark (test)
97Lift Bottle Success Rateπ0.5
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| π0.52026.06 | 97 | 38 | 72 | 16 | 31 | — | 41 | — | 49.16 | 31.5 | |
| Tactile-VLA2026.06 | 97 | 32 | 15 | 10 | 41 | — | 56 | — | 41.83 | 34.75 | |
| FTP-12026.06 | 97 | 48 | 65 | 47 | 64 | — | 79 | — | 66.66 | 59.5 | |
| FTP-π0.52026.06 | 77 | 30 | 26 | 19 | 47 | — | 72 | — | 45.16 | 42 | |
| VITaLpretraining=contrastive2026.02 | 72 | 47 | 8 | 32 | 25 | 6 | 34 | 100 | 40.5 | — | |
| VITaL2026.06 | 72 | 47 | 8 | 32 | 25 | — | 34 | — | 36.33 | 34.5 | |
| ACT + UniVTAC Encodertactile_encoder=UniVTAC Encoder, pretraining=reconstruction-based2026.02 | 71 | 46 | 29 | 31 | 24 | 28 | 56 | 99 | 48 | — | |
| UniVTAC-ACT2026.06 | 71 | 46 | 29 | 31 | 25 | — | 56 | — | 43 | 39.5 | |
| ACTtactile_input=none2026.02 | 42 | 28 | 20 | 28 | 19 | 15 | 45 | 50 | 30.9 | — |