Adroit Benchmark Leaderboard
In-hand manipulation benchmarks featuring the Adroit hand and diverse object tasks.
View Benchmark Repository17 models
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| Rank | Model | Mean Succ | Date | Details |
|---|---|---|---|---|
| 1 | GDP Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising Original | 97.20 | 2025.01 | |
| 2 | DexHandDiff DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation Original | 92.50 | 2024.11 | |
| 3 | BridgePolicy Sample from What You See: Visuomotor Policy Learning via Diffusion Bridge with Observation-Embedded Stochastic Differential Equation Original | 80.70 | 2025.12 | |
| 4 | ManiFlow ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training Original | 78.60 | 2025.09 | |
| 5 | SAT Structural Action Transformer for 3D Dexterous Manipulation Original | 75.00 | 2026.03 | |
| 6 | ISS Policy ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervision Original | 74.80 | 2025.12 | |
| 7 | FreqPolicy FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens Original | 74.70 | 2025.06 | |
| 8 | SDM Policy Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation Original | 74.00 | 2024.12 | |
| 9 | ManiCM ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation Reproduced by SDM | 72.30 | 2024.06 | |
| 10 | FlowPolicy FlowPolicy: Enabling Fast and Robust 3D Flow-based Policy via Consistency Flow Matching for Robot Manipulation Reproduced by BridgePolicy | 70.30 | 2024.12 | |
| 11 | DP3 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Original | 68.30 | 2024.03 | |
| 12 | Diffusion Policy Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Reproduced by DP3 | 62.30 | 2023.03 | |
| 13 | RNR-DP Responsive Noise-Relaying Diffusion Policy: Responsive and Efficient Visuomotor Control Original | 57.40 | 2025.02 | |
| 14 | MambaPolicy MambaPolicy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models Original | 52.30 | 2024.09 | |
| 15 | UniAct Universal Actions for Enhanced Embodied Foundation Models Reproduced by SAT | 49.00 | 2025.01 | |
| 16 | HPT Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers Reproduced by SAT | 45.00 | 2024.09 | |
| 17 | Flow Matching Affordance-based Robot Manipulation with Flow Matching Reproduced by ManiFlow | 39.00 | 2024.09 |