T-block Pushing on T-block Pushing Weight at the Bottom (real-world)
100Success RatePhys2Real*
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Phys2Real*CoM=+0.76 cm, sigma=1.55 cm2025.10 | 100 | 1.76 | 4.73 | 44.28 | |
| Physics-conditionedprivileged=-0.71 cm2025.10 | 95.83 | 1.92 | 2.76 | 37.8 | |
| Physics-conditionedVLM=+0.76 cm2025.10 | 91.67 | 1.9 | 3.18 | 38.27 | |
| RMA-onlymode=adaptation model2025.10 | 79.17 | 2.23 | 3.62 | 45.22 | |
| DRrange=[-3.5 cm, +7.5 cm]2025.10 | 79.17 | 7.14 | 11.11 | 37.5 | |
| Diffusion Policy (DP)2025.10 | 50 | 19.34 | 40.71 | 38.71 |