Lift Box on Franka-human demos to bimanual UR5e
70Success RateMonoDuo
Evaluation Results
| Method | Links | |
|---|---|---|
| MonoDuoUse Robot=true, Cross Paint=true, Retargeted Action=true, Weight Sharing=true, Evaluation Mode=Zero-shot2026.05 | 70 | |
| Ablation: No Retargeted ActionUse Robot=true, Cross Paint=true, Retargeted Action=false, Weight Sharing=true, Evaluation Mode=Zero-shot2026.05 | 50 | |
| Ablation: No Cross-PaintUse Robot=true, Cross Paint=false, Retargeted Action=true, Weight Sharing=true, Evaluation Mode=Zero-shot2026.05 | 40 | |
| Robot-Only Policies (Naive)Use Robot=true, Cross Paint=true, Retargeted Action=false, Weight Sharing=false, Evaluation Mode=Zero-shot2026.05 | 15 | |
| Pure Human VideosUse Robot=false, Cross Paint=true, Retargeted Action=true, Weight Sharing=false, Evaluation Mode=Zero-shot2026.05 | 10 |