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Benchmarks
Vision-based robot policy learning on Franka Kitchen
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57
Knob 1 Success Rate
ToBo
9.68
21.965
34.25
46.535
Jul 9, 2025
Knob 1 Success Rate
Light Switch Success Rate
Sliding Door Open Success Rate
Left Door Open Success Rate
Micro Open Success Rate
Updated 1mo ago
Evaluation Results
Method
Method
Links
Knob 1 Success Rate
Light Switch Success Rate
Sliding Door Open Success Rate
Left Door Open Success Rate
Micro Open Success Rate
ToBo
Backbone=ViT-S/16, Pre...
2025.07
57
82
95
51
55
CropMAE
Backbone=ViT-S/16, Pre...
2025.07
31.5
54
77
25.5
32.5
RSP
Backbone=ViT-S/16, Pre...
2025.07
31
44.5
82.5
28.8
30.3
DINO
Backbone=ViT-S/16, Pre...
2025.07
27
44.3
77
16.5
28.5
SimCLR
Backbone=ViT-S/16, Pre...
2025.07
25.3
55.8
72.3
17
23.3
SiamMAE
Backbone=ViT-S/16, Pre...
2025.07
16.8
36.5
68
17.3
13.5
MAE
Backbone=ViT-S/16, Pre...
2025.07
12
24.3
71.5
12.8
10
MoCo v3
Backbone=ViT-S/16, Pre...
2025.07
11.5
24.3
66.5
10.3
14.3
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