Robot Manipulation Generalization

Benchmarks archive 2025-07-28

2 leaderboard tables shown for this task, 2 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

2 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

17 shown of 17 papers with code (19 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• Segment Anything
  5 Apr 2023 32 repositories listed Syntology ran 8 of 23 samples · 15 unverified
  We introduce the Segment Anything (SA) project: a new task, model, and dataset for image segmentation.
• SAM 2: Segment Anything in Images and Videos
  1 Aug 2024 11 repositories listed Syntology ran 28 of 49 samples · 21 unverified
  We present Segment Anything Model 2 (SAM 2), a foundation model towards solving promptable visual segmentation in images and videos.
• Sam2Rad: A Segmentation Model for Medical Images with Learnable Prompts
  10 Sep 2024 2 repositories listed
  SAM and its variants often fail to segment structures in ultrasound (US) images due to domain shift.
• Segment Anything for Videos: A Systematic Survey
  31 Jul 2024 2 repositories listed
  To address this gap, this work conducts a systematic review on SAM for videos in the era of foundation models.
• Instruction-driven history-aware policies for robotic manipulations
  11 Sep 2022 2 repositories listed Syntology ran 0 of 11 samples · 11 unverified
  In human environments, robots are expected to accomplish a variety of manipulation tasks given simple natural language instructions.
• Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy
  2 Oct 2024 1 repository listed Syntology ran 1 of 1 samples · 0 unverified · 1 pointer-only (licence)
  3D-LOTUS++ achieves state-of-the-art performance on novel tasks of GemBench, setting a new standard for generalization in robotic manipulation.
• SAM2-Adapter: Evaluating & Adapting Segment Anything 2 in Downstream Tasks: Camouflage, Shadow, Medical Image Segmentation, and More
  8 Aug 2024 1 repository listed Syntology ran 3 of 5 samples · 2 unverified
  The advent of large models, also known as foundation models, has significantly transformed the AI research landscape, with models like Segment Anything (SAM) achieving notable success in diverse image segmentation…
• Generative Image as Action Models
  10 Jul 2024 1 repository listed Syntology ran 0 of 1 samples · 1 unverified
  We present GENIMA, a behavior-cloning agent that fine-tunes Stable Diffusion to 'draw joint-actions' as targets on RGB images.
• RVT-2: Learning Precise Manipulation from Few Demonstrations
  12 Jun 2024 1 repository listed Syntology ran 15 of 15 samples · 0 unverified · 15 pointer-only (licence)
  In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions.
• Evaluating Real-World Robot Manipulation Policies in Simulation
  9 May 2024 1 repository listed
  We then employ these approaches to create SIMPLER, a collection of simulated environments for manipulation policy evaluation on common real robot setups.
• 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
  18 Feb 2024 1 repository listed
  We marry diffusion policies and 3D scene representations for robot manipulation.
• THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
  13 Feb 2024 1 repository listed Syntology ran 1 of 3 samples · 2 unverified · 3 pointer-only (licence)
  To realize effective large-scale, real-world robotic applications, we must evaluate how well our robot policies adapt to changes in environmental conditions.
• PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation
  27 Sep 2023 1 repository listed Syntology ran 1 of 2 samples · 1 unverified
  The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics.
• RVT: Robotic View Transformer for 3D Object Manipulation
  26 Jun 2023 1 repository listed
  In simulations, we find that a single RVT model works well across 18 RLBench tasks with 249 task variations, achieving 26% higher relative success than the existing state-of-the-art method (PerAct).
• Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
  12 Sep 2022 1 repository listed
  With this formulation, we train a single multi-task Transformer for 18 RLBench tasks (with 249 variations) and 7 real-world tasks (with 18 variations) from just a few demonstrations per task.
• R3M: A Universal Visual Representation for Robot Manipulation
  23 Mar 2022 1 repository listed Syntology ran 3 of 6 samples · 3 unverified · 6 pointer-only (licence)
  We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks.
• Masked Visual Pre-training for Motor Control
  11 Mar 2022 1 repository listed
  This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels.

Syntology lines on 10 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.