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ResearchFormerly WizWand

Pick-and-place robot manipulation on Sim-to-real Real-world Evaluation Scenes

100PSRPPOFlow
16.838.46081.6Mar 19, 2026
Updated 7mo ago

Evaluation results

MethodLinks
PPOFlowScene=1, Language Command=put the broccoli on the mug., Scene Distractors=knife, cutting board, Training Scenes=1002026.031007030010.4
PPOFlowScene=4, Language Command=put the (pink) eraser on the notebook., Scene Distractors=black pen, mug, Training Scenes=1002026.03100100——10.2
PPOFlowScene=5, Language Command=put the (yellow) brush on the bowl., Scene Distractors=banana, yellow marker, Training Scenes=1002026.03100100——9.5
PPOFlowScene=6, Language Command=put the white eraser on the mug., Scene Distractors=pink eraser, black pen, blue pen, Training Scenes=1002026.031007030011.1
PPOFlowScene=11, Language Command=put the blue teacup on the yellow teacup., Scene Distractors=purple teacup, pink teapot, blue plate, yellow plate, Training Scenes=1002026.031005050011
PPOFlowScene=0, Language Command=put the banana on the bowl., Scene Distractors=broccoli, strawberry, plate, Training Scenes=1002026.0390901007.4
PPOFlowScene=2, Language Command=put the mushroom on the bowl., Scene Distractors=banana, broccoli, plate, Training Scenes=1002026.0390901008.4
PPOFlowScene=8, Language Command=put the blue pen on the (blue) bowl., Scene Distractors=black pen, white eraser, basket, Training Scenes=1002026.039070201012.2
PPOFlowScene=All, Training Scenes=1002026.0388.37518.36.710.2
Imitation baseline πpreScene=0, Language Command=put the banana on the bowl., Scene Distractors=broccoli, strawberry, plate2026.03806040010.7
PPOFlowScene=3, Language Command=put the spoon on the napkin., Scene Distractors=fork, plate, Training Scenes=1002026.038070102012.2
PPOFlowScene=7, Language Command=put the red knife on the cutting board., Scene Distractors=regular knife, Training Scenes=1002026.03808002012.2
Imitation baseline πpreScene=7, Language Command=put the red knife on the cutting board., Scene Distractors=regular knife2026.037020206014.6
PPOFlowScene=9, Language Command=put the green marker on the basket., Scene Distractors=red marker, yellow marker, dry erase eraser, cardboard box, Training Scenes=1002026.0370604008.8
Imitation baseline πpreScene=5, Language Command=put the (yellow) brush on the bowl., Scene Distractors=banana, yellow marker2026.03603070010.5
Imitation baseline πpreScene=9, Language Command=put the green marker on the basket., Scene Distractors=red marker, yellow marker, dry erase eraser, cardboard box2026.03603060109.2
PPOFlowScene=10, Language Command=put the screwdriver on the basket., Scene Distractors=knife, black marker, Training Scenes=1002026.036050203010.4
Imitation baseline πpreScene=11, Language Command=put the blue teacup on the yellow teacup., Scene Distractors=purple teacup, pink teapot, blue plate, yellow plate2026.035020506011.6
Imitation baseline πpreScene=All2026.034521.766.718.311.5
Imitation baseline πpreScene=1, Language Command=put the broccoli on the mug., Scene Distractors=knife, cutting board2026.03402080013.3
Imitation baseline πpreScene=4, Language Command=put the (pink) eraser on the notebook., Scene Distractors=black pen, mug2026.034030701011
Imitation baseline πpreScene=6, Language Command=put the white eraser on the mug., Scene Distractors=pink eraser, black pen, blue pen2026.0340208007.8
Imitation baseline πpreScene=2, Language Command=put the mushroom on the bowl., Scene Distractors=banana, broccoli, plate2026.03301090011.5
Imitation baseline πpreScene=8, Language Command=put the blue pen on the (blue) bowl., Scene Distractors=black pen, white eraser, basket2026.03301090029.6
Imitation baseline πpreScene=3, Language Command=put the spoon on the napkin., Scene Distractors=fork, plate2026.03201070506.1
Imitation baseline πpreScene=10, Language Command=put the screwdriver on the basket., Scene Distractors=knife, black marker2026.032008030—