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Robotic Manipulation on RLBench

86.8Avg Success Score

SAM2Act

Updated 4d ago

Evaluation Results

Method
SAM2Act 2025.01	86.8	3.1	99	99	84	98	83	47	93	100	75	99	98	89	86	64	76	78	99	96	-	-
ARP+ 2025.01	84.9	3.2	95.2	99.2	78.4	97.6	92.8	48.8	96	100	69.6	98.4	86.4	89.6	92.8	46.4	63.2	80	97.6	96	-	-
3D-LOTUS 2025.01	83.1	3.7	96	100	69.6	98.4	85.6	40.8	91.2	100	78.4	97.6	95.2	88.8	99.2	34.4	58.4	75.2	96	90.4	-	-
RVT-2 2025.01	81.4	3.7	100	99	40	99	74	38	95	100	66	96	96	88	92	35	80	69	100	99	-	-
3D Diffuser Actor 2025.01	81.3	3.9	96	100	65.6	96.8	89.6	24	93.6	98.4	85.6	96	97.6	82.4	97.6	44	68.3	47.2	84	99.2	-	-
MVISTA-4D 2026.02	72.6	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
Act-Head 2026.02	72.5	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SAM-E 2025.01	70.6	4.8	82.4	100	18.4	95.2	95.2	0	94.4	100	64	92	95.2	78.4	95.2	34.4	26.4	0	100	100	-	-
SAM-E (ours) 2024.05	70.6	-	82.4	-	18.4	95.2	95.2	0	94.4	100	64	92	95.2	78.4	-	34.4	26.4	0	100	95.2	100	95.2
w/o R-IDM 2026.02	69	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
Full IDM 2026.02	68.8	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
3D-MVP 2024.06	67.5	-	76	100	20	96	84	4	100	96	60	100	92	60	48	28	40	36	80	96	-	-
TesserAct 2026.02	67.3	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SAM-E (SAM -> DINO) 2024.05	67.1	-	89.6	-	11.2	96	95.2	0.8	93.6	100	52	88	85.6	64	-	30.4	28.8	1.6	100	100	100	89.6
SAM-E (SAM -> R3M) 2024.05	66.5	-	78.4	-	56	97.6	95.2	1.6	60	96	41.6	88.8	95.2	96.8	-	31.2	32	2.4	5.6	100	100	88.8
SAM-E (SAM -> RVT) 2024.05	65.3	-	83.2	-	7.2	95.2	95.2	0	92.8	98.4	59.2	88	72	61.6	-	35.2	22.4	3.2	84	87.2	99.2	79.2
Act3D 2025.01	65	6.8	92	92	27	94	93	3	80	99	51	90	95	47	93	8	12	9	92	94	-	-
SAM-E (SAM -> CLIP) 2024.05	64.8	-	73.6	-	8	96	92	0	93.6	100	40	78.4	80.8	59.2	-	42.4	22.4	4.8	85.6	100	99.2	78.4
RVT 2025.01	62.9	6.9	52	99.2	11.2	88	71.2	4	91	100	49.6	88	91.2	48	81.6	36	28.8	26.4	72	93.6	-	-
RVT 2023.06	62.9	1.1	52	99.2	11.2	88	71.2	4	91	100	49.6	88	91.2	48	81.6	36	28.8	26.4	72	93.6	-	-
RVT 2024.05	62.9	-	52	-	11.2	88	71.2	4	91	100	49.6	89.6	91.2	48	-	36	28.8	26.4	72	93.6	99.2	81.6
RVT 2024.06	62.9	-	52	99.2	11.2	88	71.2	4	91	100	49.6	88	91.2	48	81.6	36	28.8	26.4	72	93.6	-	-
P-ACT 2026.02	60.4	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
D4R-Align 2024.06	59.9	-	72	97.3	24	92	81.3	0	84	100	46.7	32	97.3	57.3	70.7	22.7	16	1.3	86.7	96	-	-
R3M-Align 2024.06	59.2	-	80	97.3	16	93.3	80	0	88	100	33.3	70.7	78.7	41.3	80	13.3	13.3	1.3	98.7	80	-	-
D4R 2024.06	55.3	-	61.3	100	32	97.3	84	0	81.3	93.3	46.7	25.3	88	32	57.3	24	6.7	0	68	97.3	-	-
R3M 2024.06	50.3	-	74.7	96	17.3	96	80	0	77.3	100	24	14.7	90.7	30.7	60	20	16	0	36	72	-	-
PerAct 2025.01	49.4	8.9	55.2	89.6	5.6	70.4	88	2.4	44.8	92.8	28	51.2	84	17.6	74	16.8	26.4	2.4	52	88	-	-
PerAct 2023.06	49.4	1.9	55.2	89.6	5.6	70.4	88	2.4	44.8	92.8	28	51.2	84	17.6	74	16.8	26.4	2.4	52	88	-	-
PerAct 2024.05	49.4	-	55.2	-	5.6	70.4	88	2.4	44.8	92.8	28	51.2	84	17.6	-	16.8	26.4	2.4	52	88	59.6	74
PerAct 2024.06	49.4	-	55.2	89.6	5.6	70.4	88	2.4	44.8	92.8	28	51.2	84	17.6	74	16.8	26.4	2.4	52	88	-	-
4DGen 2026.02	47	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
PolarNet 2025.01	46.4	9.1	36	92	4	100	84	0	40	96	12	32	84	44	56	12	4	8	52	80	-	-
HiveFormer 2025.01	45.3	9.6	52	76	0	100	52	0	80	84	32	68	76	8	64	8	8	0	28	80	-	-
UniPi* 2026.02	34.6	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
C2F-ARM-BC 2025.01	20.1	11.5	24	24	4	20	20	0	8	72	0	4	12	8	16	8	0	0	0	68	-	-
C2F-ARM-BC 2023.06	20.1	3.1	24	24	4	20	20	0	8	72	0	4	12	8	16	8	0	0	0	68	-	-
C2F-ARM-BC 2024.06	20.1	-	24	24	4	20	20	0	8	72	0	4	12	8	16	8	0	0	0	68	-	-
Image-BC 2025.01	1.3	12.4	0	0	0	0	4	0	0	0	0	8	4	0	0	0	0	0	0	8	-	-
Image-BC 2025.01	1.3	12.6	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	16	-	-
Image-BC 2023.06	1.3	3.7	0	0	0	0	4	0	0	0	0	8	4	0	0	0	0	0	0	8	-	-
Image-BC 2023.06	1.3	3.8	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	16	-	-
Image-BC 2024.06	1.3	-	0	0	0	0	4	0	0	0	0	8	4	0	0	0	0	0	0	8	-	-
Image-BC 2024.06	1.3	-	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	16	-	-
ActiveVLA 2026.01	0.918	1.22	100	100	92.4	100	100	65.6	96.2	100	87.4	99.5	99.4	89.3	98.5	63.3	82.2	84.8	100	95.3	-	-
BridgeVLA 2026.01	0.882	2.44	100	100	88	100	100	58.4	88	98.4	73.6	99.2	99.2	87.2	96	60.8	76.8	81.6	87.2	92.8	-	-
RVT-2 2026.01	0.814	3	100	99	40	99	74	38	95	100	66	96	96	88	92	35	80	69	100	99	-	-
3D Diffuser Actor 2026.01	0.813	3.39	96	100	65.6	96.8	89.6	24	93.6	98.4	85.6	96	97.6	82.4	97.6	44	68.3	47.2	84	99.2	-	-
Act3D 2026.01	0.65	5.28	92	92	27	94	93	3	80	99	51	90	95	47	93	8	12	9	92	94	-	-
RVT 2026.01	0.629	5.39	52	99.2	11.2	88	71.2	4	91	100	49.6	88	91.2	48	81.6	36	28.8	26.4	72	93.6	-	-
PerAct 2026.01	0.494	7.33	55.2	89.6	5.6	70.4	88	2.4	44.8	92.8	28	51.2	84	17.6	74	16.8	26.4	2.4	52	88	-	-
PolarNet 2026.01	0.464	7.78	36	92	4	100	84	0	40	96	12	32	84	44	56	12	4	8	52	80	-	-
HiveFormer 2026.01	0.453	8.22	52	76	0	100	52	0	80	84	32	68	76	8	64	8	8	0	28	80	-	-
C2F-ARM-BC 2026.01	0.201	9.89	24	24	4	20	20	0	8	72	0	4	12	8	16	8	0	0	0	68	-	-
Image-BC 2026.01	0.013	11.56	0	0	0	0	0	4	0	0	0	8	4	0	0	0	0	0	0	8	-	-
Image-BC 2026.01	0.013	11.61	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	16	-	-
PerAct 2026.02	-	-	-	-	-	-	-	0	-	-	-	68	44	-	-	-	36	0	-	-	-	-
Single-Agent 2026.02	-	-	-	-	-	-	-	22	-	-	-	73	58	-	-	-	42	15	-	-	-	-
MALLVi 2026.02	-	-	-	-	-	-	-	75	-	-	-	89	81	-	-	-	78	63	-	-	-	-
MALLVi 2026.02	-	-	-	-	-	-	-	96	-	-	-	94	92	-	-	-	90	83	-	-	-	-