ResearchBenchmarksonesie-folding on fold-onesie-ood Novel Object Instance (test)onesie-folding on fold-onesie-ood Novel Object Instance (test)Follow1001-step Success RateGHOST61.83271.74181.6591.559Jun 8, 2026Evaluation resultsMethodMethodLinks1-step Success Rate2-step Success Rate3-step Success Rate4-step Success RateFinal Success RateGHOSTtraining_setup=Robot Onlytraining_setup=Robot Only2026.0610010073.36043.3GHOSTtraining_setup=Human +...training_setup=Human + Robot demonstrations2026.0610010093.386.756.7DP2026.0676.76046.726.710MimicPlay2026.0663.336.730200