Humanoid lifting and delivery on MuJoCo cross-simulator (val)
79Whole Success RateOracle
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| OracleOcclusion=none, Trials=135, Transfer=sim-to-sim, Zero-shot=true, Ground-truth object pose=true2026.02 | 79 | 98 | 97 | 2.16 | 6.37 | |
| AdaptManipOcclusion=none, Trials=135, Transfer=sim-to-sim, Zero-shot=true2026.02 | 75 | 90 | 88 | 1.94 | 6.32 | |
| Pure RL + FKOcclusion=none, Trials=135, Transfer=sim-to-sim, Zero-shot=true2026.02 | 61 | 95 | 93 | 2.44 | 5.24 | |
| Pure RLOcclusion=none, Trials=135, Transfer=sim-to-sim, Zero-shot=true2026.02 | 37 | 84 | 80 | 2.11 | 4.2 | |
| Imitation Learning (IL)Occlusion=none, Trials=135, Transfer=sim-to-sim, Zero-shot=true2026.02 | 0 | 93 | 69 | 0.82 | 1.78 |