Robot Manipulation on RLBench

Metric: Input Image Size (higher is better)

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#	Model↕	Input Image Size▼	Extra Data	Paper	Date↕	Code
1	EquAct	256	No	-	-	-
2	3D-LOTUS	256	No	Towards Generalizable Vision-Language Robotic Ma...	2024-10-02	Code
3	3D Diffuser Actor	256	No	3D Diffuser Actor: Policy Diffusion with 3D Scen...	2024-02-16	Code
4	Mini Diffuser	256	No	Mini Diffuser: Fast Multi-task Diffusion Policy ...	2025-05-14	Code
5	Act3D	256	No	Act3D: 3D Feature Field Transformers for Multi-T...	2023-06-30	Code
6	SAM2Act	128	No	-	-	Code
7	RVT-2	128	No	RVT-2: Learning Precise Manipulation from Few De...	2024-06-12	Code
8	RVT	128	No	RVT: Robotic View Transformer for 3D Object Mani...	2023-06-26	Code
9	PerAct (Evaluated in RVT)	128	No	Perceiver-Actor: A Multi-Task Transformer for Ro...	2022-09-12	Code
10	PolarNet	128	No	PolarNet: 3D Point Clouds for Language-Guided Ro...	2023-09-27	Code
11	PerAct	128	No	Perceiver-Actor: A Multi-Task Transformer for Ro...	2022-09-12	Code
12	C2FARM-BC (Evaluated in PerAct)	128	No	Coarse-to-Fine Q-attention: Efficient Learning f...	2021-06-23	Code
13	Image-BC VIT	128	No	Perceiver-Actor: A Multi-Task Transformer for Ro...	2022-09-12	Code
14	Image-BC CNN	128	No	Perceiver-Actor: A Multi-Task Transformer for Ro...	2022-09-12	Code

#1EquAct
256
Input Image Size
No paper
#23D-LOTUS
256
Input Image Size· 2024-10-02
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy Code
#33D Diffuser Actor
256
Input Image Size· 2024-02-16
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations Code
#4Mini Diffuser
256
Input Image Size· 2025-05-14
Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches Code
#5Act3DSOTA
256
Input Image Size· 2023-06-30
Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation Code
#6SAM2Act
128
Input Image Size
No paperCode
#7RVT-2
128
Input Image Size· 2024-06-12
RVT-2: Learning Precise Manipulation from Few Demonstrations Code
#8RVT
128
Input Image Size· 2023-06-26
RVT: Robotic View Transformer for 3D Object Manipulation Code
#9PerAct (Evaluated in RVT)
128
Input Image Size· 2022-09-12
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Code
#10PolarNet
128
Input Image Size· 2023-09-27
PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation Code
#11PerAct
128
Input Image Size· 2022-09-12
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Code
#12C2FARM-BC (Evaluated in PerAct)SOTA
128
Input Image Size· 2021-06-23
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation Code
#13Image-BC VIT
128
Input Image Size· 2022-09-12
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Code
#14Image-BC CNN
128
Input Image Size· 2022-09-12
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Code