Human-Humanoid Interaction on HHoI Dataset Isaac Gym (test)
10,000Hug Success RateD-STAR
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| D-STARvariant=Full Model2026.01 | 10,000 | 4,070 | 6,130 | 9,630 | 9,330 | 9,090 | 7,540 | |
| D-STARvariant=w/o MSS2026.01 | 10,000 | 2,960 | 3,230 | 9,630 | 8,670 | 8,180 | 6,430 | |
| D-STARvariant=w/o PA2026.01 | 8,670 | 2,220 | 4,520 | 9,630 | 9,330 | 9,090 | 6,590 | |
| D-STARvariant=w/o PA + MSS2026.01 | 8,670 | 2,590 | 5,160 | 9,630 | 9,330 | 9,090 | 6,830 | |
| Transformer Policy2026.01 | 7,330 | 4,440 | 3,230 | 9,260 | 8,670 | 9,090 | 6,430 | |
| Diffusion Policy2026.01 | 7,330 | 370 | 3,870 | 9,630 | 9,330 | 9,090 | 5,870 | |
| TCN Policy2026.01 | 5,330 | 1,110 | 1,290 | 8,890 | 8,670 | 9,090 | 4,920 | |
| Naive Mimicrymode=BC only2026.01 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |