Real-world tasks

15 Real-World Tasks (In-Distribution)

13

Real-world Tasks Average

9

Real-world tasks Franka Emika Panda

8

Real-World Tasks Average

7

Real-World Tasks Move Hanoi Rings

7

Real-World Tasks Toast Bread

7

Real-World Tasks Play Xylophone

7

Real-World Tasks Twist Bottle Cap

7

Real-World Tasks Wipe Whiteboard

7

Real-World Tasks Insert Flower

7

8 Real-world Tasks 20 repetitions (test)

6

Real-world tasks Franka Emika Panda

6

Real-world Tasks Stack Plates

5

Real-world Tasks Fold Towel

5

Real-world Tasks Arrange Table

5

Real-World Tasks Multi-object

5

Real-World Tasks Single Object Push Down

5

Real-World Tasks Single Object Push

5

Eight real-world tasks

4

15 Real-World Tasks Extreme OOD

4

15 Real-World Tasks Moderate OOD

4

Real-world Tasks

4

Real-world Tasks

4

Real-world tasks

4

Real-world tasks

4