Cross-Embodiment Transfer on ManiSkill Simulation 3-Shot
48.33Transfer Success RateMOTIF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MOTIFParams (B)=0.31, Pre-trained on large-scale robot datasets=false2026.02 | 48.33 | 55.33 | |
| π0Params (B)=3.30, Pre-trained on large-scale robot datasets=true2026.02 | 38.33 | 48.22 | |
| GR00T N1Params (B)=2.00, Pre-trained on large-scale robot datasets=true2026.02 | 33 | 50.67 | |
| Diffusion PolicyParams (B)=0.22, Pre-trained on large-scale robot datasets=false2026.02 | 27 | 31.33 | |
| HPTParams (B)=0.06, Pre-trained on large-scale robot datasets=true2026.02 | 15 | 23.44 |