Training data22 eps
in-distribution episodes
PARA
Pixel-Aligned Robot Actions
Data Efficiency
Baseline0/6
in-distribution rollouts
Ours (PARA)6/6 · 100%
in-distribution rollouts
Out-of-Distribution Object Position Generalization
Baseline0/11
no fine-tune
Ours (PARA)1/4 + 3 slipped
no fine-tune
Baselineeval pending
+ 5-episode fine-tune
Ours (PARA)5/6 · 83%
+ 5-episode fine-tune
Out-of-Distribution Viewpoint Generalization
Baseline0/4
no fine-tune
Ours (PARA)5/9 · 55%
no fine-tune
Baseline0/4
+ 7-episode fine-tune
Ours (PARA)6/7 · 86%
+ 7-episode fine-tune
