OpenCodePapers

robot-manipulation-on-rlbench

RoboticsRobot Manipulation
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PaperCodeSucc. Rate (18 tasks, 100 demo/task)Succ. Rate (18 tasks, 10 demo/task)Training Time (V100 x 8 x day)Training Time (A100 x hour)Succ. Rate (10 tasks, 100 demos/task)Succ. Rate (74 tasks, 100 demos/task)Inference Speed (fps)Input Image SizeModelNameReleaseDate
BridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulation✓ Link93.7BridgeVLA++2026-08-05
EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation89.460.12401.4256EquAct2025-05-27
Noise-Invariant Spatial Encoding for 3D Manipulation Policies under Depth Corruption89.0NISE2026-10-17
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models✓ Link88.2BridgeVLA2025-06-09
SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation✓ Link86.8200128SAM2Act2025-01-30
Autoregressive Action Sequence Learning for Robotic Manipulation✓ Link84.9ARP+2024-10-04
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy✓ Link83.10.28409.52563D-LOTUS2024-10-02
Look Before Acting: Enhancing Vision Foundation Representations for Vision-Language-Action Models83.0DeepVision-VLA2026-03-16
RVT-2: Learning Precise Manipulation from Few Demonstrations✓ Link81.40.8320.6128RVT-22024-06-12
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations✓ Link81.389362563D Diffuser Actor2024-02-18
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches✓ Link77.60.2424256Mini Diffuser2025-05-14
SAM-E: Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation70.6SAM-E2024-05-30
Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation✓ Link65485256Act3D2023-06-30
RVT: Robotic View Transformer for 3D Object Manipulation✓ Link62.9111.6128RVT2023-06-26
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation✓ Link49.4164.9128PerAct (Evaluated in RVT)2022-09-12
PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation✓ Link46.4589.860.3128PolarNet2023-09-27
Instruction-driven history-aware policies for robotic manipulations✓ Link45.383.3Hiveformer2022-09-11
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation✓ Link42.73016128PerAct2022-09-12
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation✓ Link20.1128C2FARM-BC (Evaluated in PerAct)2021-06-23
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation✓ Link1.3128Image-BC VIT2022-09-12
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation✓ Link1.3128Image-BC CNN2022-09-12
Auto-Lambda: Disentangling Dynamic Task Relationships✓ Link69.3Auto-λ2022-02-07
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