Non-prehensile manipulation on T-block pushing weight at top
90.48Success RatePhysics-conditioned
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Physics-conditionedprivileged=+6.1 cm2025.10 | 90.48 | 1.9 | 1.78 | 43.43 | |
| Phys2RealCoM=+4.0 cm, σ=1.4 cm2025.10 | 57.14 | 2.6 | 2.62 | 39.58 | |
| DRrange=[−3.5 cm, +7.5 cm]2025.10 | 23.81 | 6 | 6.77 | 37 | |
| Diffusion Policy (DP)2025.10 | 20.83 | 25.9 | 57.38 | 54.14 | |
| RMA-onlymode=adaptation model2025.10 | 14.29 | 7.6 | 4.7 | 37.23 | |
| Physics-conditionedVLM=+4.0 cm2025.10 | 4.76 | 10.1 | 12.56 | 40.8 |