Cross-Embodiment Transfer on ManiSkill Simulation 50-Shot
75Transfer Success RateMOTIF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MOTIFParams (B)=0.31, Pre-trained on large-scale robot datasets=false2026.02 | 75 | 66 | |
| π0Params (B)=3.30, Pre-trained on large-scale robot datasets=true2026.02 | 67.67 | 62.89 | |
| GR00T N1Params (B)=2.00, Pre-trained on large-scale robot datasets=true2026.02 | 57.67 | 57.44 | |
| Diffusion PolicyParams (B)=0.22, Pre-trained on large-scale robot datasets=false2026.02 | 46 | 38 | |
| HPTParams (B)=0.06, Pre-trained on large-scale robot datasets=true2026.02 | 44.33 | 35.11 |