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Benchmarks
Tool-use Grasping on Hammer Simulation v1 (test)
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100
Success Rate
RL base
-4
23
50
77
Feb 24, 2026
Success Rate
Translational Error (cm)
Rotational Error (°)
Updated 4d ago
Evaluation Results
Method
Method
Links
Success Rate
Translational Error (cm)
Rotational Error (°)
RL base
2026.02
100
0.93
4.07
RL base + contact reward
reward=contact reward
2026.02
100
0.86
3.99
RL base + pre-grasp pose
initialization=pre-gra...
2026.02
100
0.88
9.48
G2A w/o Adaptation
adaptation=false
2026.02
100
0.82
7.33
G2A (ours)
adaptation=true
2026.02
100
0.69
1.35
RL base + eigengrasp
action space=eigengrasp
2026.02
67.2
1.7
14.36
Analytical
2026.02
0
-
-
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