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ResearchFormerly WizWand

Toy Rearrangement on held-out N=50 randomized configurations (test)

2.94Hand RMS JerkDeep-mimic RL
-41.18412256.65369554.4915852.32931Jun 7, 2026
Updated 4mo ago

Evaluation results

MethodLinks
Deep-mimic RLInput Signal=Flow2026.062.94
Video2Sim2Real2026.065.934
Deep-mimic RLmode=Flow2026.066.679
Video2Sim2Real2026.0611.57
Deep-mimic RLInput Signal=Flow + Aux2026.0612.401
Object-onlymode=Flow2026.0612.904
Object-onlymode=Flow + Aux2026.0615.543
Residual RLmode=Flow + Aux2026.0627.44
Opt-Pre-Contact Initmode=Flow2026.0628.139
Residual RLInput Signal=Flow + Aux2026.0628.72
Opt-Pre-Contact InitInput Signal=Flow2026.0629.15
Residual RLmode=Flow2026.0632.401
Residual RLInput Signal=Flow2026.0632.532
Opt-Pre-Contact InitInput Signal=Flow + Aux2026.0640.2
Pre-Contact Initmode=Flow2026.0642.586
Opt-Pre-Contact Initmode=Flow + Aux2026.0648.108
Pre-Contact InitInput Signal=Flow2026.0660.184
Pre-Contact Initmode=Flow + Aux2026.06133.047
Pre-Contact InitInput Signal=Flow + Aux2026.06164.592
Deep-mimic RLmode=Flow + Aux2026.06197.901
Object-onlyInput Signal=Flow + Aux2026.06558.383
Object-onlyInput Signal=Flow2026.061,106.043