Asset Fidelity Evaluation on 11 object-interaction tasks (test)
67.27Simulation Success RateReal-World Objects
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| Real-World ObjectsPolicy=pi_02026.05 | 67.27 | 1 | |
| Real-World ObjectsPolicy=pi_0.52026.05 | 67.27 | 1 | |
| Asset2SimPolicy=pi_0.52026.05 | 45.45 | 0.68 | |
| Asset2SimPolicy=pi_02026.05 | 32.73 | 0.52 | |
| Real-World ObjectsPolicy=GR00T N1.62026.05 | 32.73 | 1 | |
| VLM-IVWPolicy=pi_0.52026.05 | 20 | 0.25 | |
| Asset2SimPolicy=GR00T N1.62026.05 | 20 | 0.34 | |
| VLM-IVWPolicy=pi_02026.05 | 16.36 | 0.23 | |
| VLM-IVWPolicy=GR00T N1.62026.05 | 10.91 | 0.01 | |
| Human (GenSim2)Policy=pi_0.52026.05 | 9.09 | 0.32 | |
| Human (GenSim2)Policy=pi_02026.05 | 7.27 | 0.4 | |
| Human (GenSim2)Policy=GR00T N1.62026.05 | 1.82 | 0.08 | |
| Direct VLMPolicy=GR00T N1.62026.05 | 1.82 | 0.08 | |
| Direct VLMPolicy=pi_02026.05 | 0 | — | |
| Direct VLMPolicy=pi_0.52026.05 | 0 | — |