Apple Preparation on held-out N=50 randomized configurations (test)
8.725Hand RMS JerkObject-only
Evaluation Results
| Method | Links | |
|---|---|---|
| Object-onlymode=Flow2026.06 | 8.725 | |
| Video2Sim2Real2026.06 | 10.285 | |
| Opt-Pre-Contact Initmode=Flow2026.06 | 12.111 | |
| Opt-Pre-Contact InitInput Signal=Flow2026.06 | 15.828 | |
| Video2Sim2Real2026.06 | 16.402 | |
| Deep-mimic RLInput Signal=Flow2026.06 | 17.031 | |
| Residual RLInput Signal=Flow2026.06 | 17.043 | |
| Object-onlymode=Flow + Aux2026.06 | 21.164 | |
| Residual RLmode=Flow2026.06 | 22.176 | |
| Residual RLInput Signal=Flow + Aux2026.06 | 27.104 | |
| Opt-Pre-Contact Initmode=Flow + Aux2026.06 | 28.917 | |
| Residual RLmode=Flow + Aux2026.06 | 33.869 | |
| Pre-Contact Initmode=Flow2026.06 | 34.787 | |
| Pre-Contact Initmode=Flow + Aux2026.06 | 36.524 | |
| Opt-Pre-Contact InitInput Signal=Flow + Aux2026.06 | 38.24 | |
| Pre-Contact InitInput Signal=Flow + Aux2026.06 | 40.669 | |
| Deep-mimic RLInput Signal=Flow + Aux2026.06 | 173.126 | |
| Deep-mimic RLmode=Flow + Aux2026.06 | 202.673 | |
| Deep-mimic RLmode=Flow2026.06 | 314.524 | |
| Object-onlyInput Signal=Flow + Aux2026.06 | 323.554 | |
| Pre-Contact InitInput Signal=Flow2026.06 | 761.718 | |
| Object-onlyInput Signal=Flow2026.06 | 1,410.388 |