Action-conditioned World Modeling on EgoDex (test)
26.78PSNRRynnWorld-Teleop (SFT)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| RynnWorld-Teleop (SFT)Tuning Protocol=SFT2026.07 | 26.78 | 0.887 | 0.119 | 550 | 2.8 | |
| RynnWorld-Teleop (LoRA)Tuning Protocol=LoRA2026.07 | 26.08 | 0.876 | 0.151 | 585 | 2.8 | |
| RynnWorld-Teleop-CausalArchitecture=Causal2026.07 | 22.25 | 0.83 | 0.207 | 1,226 | 40 | |
| Mask2IV2026.07 | 21.5 | 0.836 | 0.219 | 1,650 | 0.9 | |
| InterDyn2026.07 | 21.47 | 0.831 | 0.279 | 655 | 2.9 | |
| Concatenation FusionAblation Study=LoRA, Configuration=Concatenation Fusion2026.07 | 19.69 | 0.821 | 0.26 | 1,191 | 2.8 | |
| w/o DMD (Causal)Ablation Study=Causal, Configuration=w/o DMD2026.07 | 19.25 | 0.777 | 0.244 | 1,338 | 40 | |
| CosHand2026.07 | 18.14 | 0.785 | 0.406 | 1,527 | 0.8 | |
| w/o Human Pre-trainingAblation Study=LoRA, Configuration=w/o Human Pre-training2026.07 | 17.81 | 0.763 | 0.453 | 2,598 | 2.8 | |
| w/o Causal Warm-up (Causal)Ablation Study=Causal, Configuration=w/o Causal Warm-up2026.07 | 14.26 | 0.688 | 0.408 | 2,150 | 40 |