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Benchmarks
Robotic Manipulation on 16 Simulation Benchmarks (test)
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94
Stack D1
EquiForm
20.16
39.33
58.5
77.67
Jan 24, 2026
Stack D1
Mug Cleanup D1
Nut Assembly D0
Stack Three D1
Threading D2
Square D2
Coffee D2
PushT
Beat Block Ham.
Click Alarmclock
Handover Block
Move Can Pot
Pick Dual Bottles
Place Empty Cup
Stamp Seal
Turn Switch
Average Success Rate
Updated 4d ago
Evaluation Results
Method
Method
Links
Stack D1
Mug Cleanup D1
Nut Assembly D0
Stack Three D1
Threading D2
Square D2
Coffee D2
PushT
Beat Block Ham.
Click Alarmclock
Handover Block
Move Can Pot
Pick Dual Bottles
Place Empty Cup
Stamp Seal
Turn Switch
Average Success Rate
EquiForm
Observation Space=3D c...
2026.01
94
50
72
24
39
37
52
93
87
89
85
90
86
76
43
49
66.6
Canonical Policy
Observation Space=3D c...
2026.01
79
38
42
9
15
15
51
89
93
65
68
84
96
81
34
46
56.6
DP3
Observation Space=3D c...
2026.01
23
28
21
1
8
3
43
71
72
77
70
70
60
65
18
46
42.3
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