Toy Rearrangement on held-out N=50 randomized configurations (test)
2.94Hand RMS JerkDeep-mimic RL
Evaluation Results
| Method | Links | |
|---|---|---|
| Deep-mimic RLInput Signal=Flow2026.06 | 2.94 | |
| Video2Sim2Real2026.06 | 5.934 | |
| Deep-mimic RLmode=Flow2026.06 | 6.679 | |
| Video2Sim2Real2026.06 | 11.57 | |
| Deep-mimic RLInput Signal=Flow + Aux2026.06 | 12.401 | |
| Object-onlymode=Flow2026.06 | 12.904 | |
| Object-onlymode=Flow + Aux2026.06 | 15.543 | |
| Residual RLmode=Flow + Aux2026.06 | 27.44 | |
| Opt-Pre-Contact Initmode=Flow2026.06 | 28.139 | |
| Residual RLInput Signal=Flow + Aux2026.06 | 28.72 | |
| Opt-Pre-Contact InitInput Signal=Flow2026.06 | 29.15 | |
| Residual RLmode=Flow2026.06 | 32.401 | |
| Residual RLInput Signal=Flow2026.06 | 32.532 | |
| Opt-Pre-Contact InitInput Signal=Flow + Aux2026.06 | 40.2 | |
| Pre-Contact Initmode=Flow2026.06 | 42.586 | |
| Opt-Pre-Contact Initmode=Flow + Aux2026.06 | 48.108 | |
| Pre-Contact InitInput Signal=Flow2026.06 | 60.184 | |
| Pre-Contact Initmode=Flow + Aux2026.06 | 133.047 | |
| Pre-Contact InitInput Signal=Flow + Aux2026.06 | 164.592 | |
| Deep-mimic RLmode=Flow + Aux2026.06 | 197.901 | |
| Object-onlyInput Signal=Flow + Aux2026.06 | 558.383 | |
| Object-onlyInput Signal=Flow2026.06 | 1,106.043 |