Peach Prep on Isaac Gym Peach Prep
100Lift Success RateVideo2Sim2Real
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| Video2Sim2Real2026.06 | 100 | 100 | 100 | |
| Opt-Pre-Contact InitInput Modality=Flow2026.06 | 80 | 33.3 | 6.7 | |
| Residual RLInput Modality=Flow2026.06 | 66.7 | 0 | 0 | |
| Residual RLInput Modality=Flow + Aux2026.06 | 66.7 | 33.3 | 0 | |
| Pre-Contact InitInput Modality=Flow + Aux2026.06 | 46.7 | 0 | 0 | |
| Opt-Pre-Contact InitInput Modality=Flow + Aux2026.06 | 36.7 | 33.3 | 0 | |
| Object-onlyInput Modality=Flow + Aux2026.06 | 20 | 0 | 0 | |
| Deep-mimic RLInput Modality=Flow2026.06 | 0 | 0 | 0 | |
| Deep-mimic RLInput Modality=Flow + Aux2026.06 | 0 | 0 | 0 | |
| Pre-Contact InitInput Modality=Flow2026.06 | 0 | 0 | 0 | |
| Object-onlyInput Modality=Flow2026.06 | 0 | 0 | 0 |