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Benchmarks
Contact-rich Robotic Manipulation on Real-world Contact-rich Manipulation Tasks
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90
Wipe Board Success Rate
VT-WAM
27.6
43.8
60
76.2
Jul 2, 2026
Wipe Board Success Rate
Wipe Vase Success Rate
Peel Cucumber Success Rate
Surface Interaction Tasks Average Success Rate
Insert Plug Success Rate
Swipe Card Success Rate
Insert Tube Success Rate
Constrained Insertion Tasks Average Success Rate
Overall Average Success Rate
Updated 23d ago
Evaluation Results
Method
Method
Links
Wipe Board Success Rate
Wipe Vase Success Rate
Peel Cucumber Success Rate
Surface Interaction Tasks Average Success Rate
Insert Plug Success Rate
Swipe Card Success Rate
Insert Tube Success Rate
Constrained Insertion Tasks Average Success Rate
Overall Average Success Rate
VT-WAM
Inference Mode=visual-...
2026.07
90
85
70
81.67
60
70
55
61.67
71.67
Fast-WAM
2026.07
70
55
45
56.67
20
55
25
33.33
45
RDP
2026.07
45
60
40
48.33
15
35
10
20
34.17
OmniVTLA
2026.07
45
30
25
33.33
40
35
40
38.33
35.83
π0.5
2026.07
40
35
35
36.67
30
45
10
28.33
32.5
DP + Tactile
Description=tactile-co...
2026.07
30
20
25
25
5
35
15
18.33
21.67
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