Humanoid Box Manipulation on MuJoCo sim-to-sim (test)
10Full-task Success (2 kg, 0 cm)Base (PhysHSI)
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Base (PhysHSI)2026.06 | 10 | 8 | 9 | 9 | 10 | 10 | 5 | 5 | 5 | 0.7889 | 0.9556 | |
| AnyAdapter-style WM-FiLM2026.06 | 10 | 10 | 9 | 9 | 9 | 10 | 4 | 6 | 8 | 0.8333 | 0.9556 | |
| SplitAdapter w/o split latent2026.06 | 10 | 9 | 10 | 9 | 10 | 9 | 6 | 9 | 9 | 0.9 | 0.9778 | |
| SplitAdapter w/o hierarchical FiLM2026.06 | 10 | 10 | 10 | 9 | 10 | 9 | 7 | 8 | 8 | 0.9 | 1 | |
| SplitAdapter w/o GRL2026.06 | 10 | 8 | 10 | 10 | 10 | 10 | 8 | 9 | 9 | 0.9333 | 1 | |
| SplitAdapter2026.06 | 10 | 10 | 10 | 9 | 10 | 10 | 10 | 9 | 9 | 0.9556 | 1 |