Cross-Embodiment Transfer on ManiSkill Simulation 10-Shot
60.33Transfer Success RateMOTIF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MOTIFParams (B)=0.31, Pre-trained on large-scale robot datasets=false2026.02 | 60.33 | 60.44 | |
| π0Params (B)=3.30, Pre-trained on large-scale robot datasets=true2026.02 | 56.33 | 59.56 | |
| GR00T N1Params (B)=2.00, Pre-trained on large-scale robot datasets=true2026.02 | 44.67 | 50.78 | |
| Diffusion PolicyParams (B)=0.22, Pre-trained on large-scale robot datasets=false2026.02 | 38 | 36.11 | |
| HPTParams (B)=0.06, Pre-trained on large-scale robot datasets=true2026.02 | 26.33 | 29.67 |