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Benchmarks
Long-horizon manipulation on Simulation Benchmark
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68
Retrieve Object Success Rate (Spatial)
Hand-Designed Features
24.32
35.66
47
58.34
Jun 23, 2026
Retrieve Object Success Rate (Spatial)
Return to Container Success Rate (Relational)
Store N Objects Success Rate (Numerical)
Heat Stove Success Rate (Event-time)
Average Success Rate
Updated 1mo ago
Evaluation Results
Method
Method
Links
Retrieve Object Success Rate (Spatial)
Return to Container Success Rate (Relational)
Store N Objects Success Rate (Numerical)
Heat Stove Success Rate (Event-time)
Average Success Rate
Hand-Designed Features
2026.06
68
15
21
13
29
HALO
2026.06
64
32
26
40
41
Scene Memory Transformer
2026.06
53
25
17
40
34
HALO w/o VQA
VQA=disabled
2026.06
42
29
17
37
31
SAM2Act++
2026.06
39
11
27
4
20
ReMemBer
2026.06
36
13
21
0
18
Token Merging
2026.06
29
24
25
38
29
Standard Transformer
2026.06
26
23
12
27
22
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