ResearchBenchmarksHumanoid Loco-Manipulation Generation on Shared 20-object (test)Humanoid Loco-Manipulation Generation on Shared 20-object (test)Follow74.7Affordance RealismGRAIL-0.90818.72138.3557.979Jun 3, 2026Evaluation resultsMethodMethodLinksAffordance RealismPhysical RealismGRAIL2026.0674.770.9CHOIS2026.0612.216.8DAViD2026.0611.210.4HOIDiff2026.0621.9