Cross-Embodiment Transfer on ManiSkill Simulation 1-Shot
36Transfer Success RateMOTIF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MOTIFParams (B)=0.31, Pre-trained on large-scale robot datasets=false2026.02 | 36 | 55.78 | |
| π0Params (B)=3.30, Pre-trained on large-scale robot datasets=true2026.02 | 33.33 | 45.78 | |
| GR00T N1Params (B)=2.00, Pre-trained on large-scale robot datasets=true2026.02 | 21.67 | 43.67 | |
| Diffusion PolicyParams (B)=0.22, Pre-trained on large-scale robot datasets=false2026.02 | 15.67 | 27 | |
| HPTParams (B)=0.06, Pre-trained on large-scale robot datasets=true2026.02 | 10 | 21.11 |