ResearchBenchmarksOnesie Folding on fold-onesie (test)Onesie Folding on fold-onesie (test)Follow1001-step Success RateGHOST89.692.39597.7Jun 8, 2026Evaluation resultsMethodMethodLinks1-step Success Rate2-step Success Rate3-step Success Rate4-step Success RateFinal Success RateGHOSTtraining_setup=Robot Onlytraining_setup=Robot Only2026.0610010096.786.780GHOSTtraining_setup=Human +...training_setup=Human + Robot demonstrations2026.061001001009083.3MimicPlay2026.0693.376.7707046.7DP2026.069076.753.34010