Tray Retrieval on held-out N=50 randomized configurations (test)
0.14Hand RMS JerkVideo2Sim2Real
Evaluation Results
| Method | Links | |
|---|---|---|
| Video2Sim2Real2026.06 | 0.14 | |
| Video2Sim2Real2026.06 | 0.251 | |
| Deep-mimic RLInput Signal=Flow + Aux2026.06 | 5.89 | |
| Pre-Contact Initmode=Flow2026.06 | 14.753 | |
| Pre-Contact InitInput Signal=Flow2026.06 | 17.918 | |
| Deep-mimic RLmode=Flow + Aux2026.06 | 18.014 | |
| Opt-Pre-Contact Initmode=Flow2026.06 | 19.908 | |
| Pre-Contact Initmode=Flow + Aux2026.06 | 21.562 | |
| Residual RLInput Signal=Flow2026.06 | 21.733 | |
| Residual RLmode=Flow2026.06 | 23.507 | |
| Object-onlymode=Flow2026.06 | 23.563 | |
| Residual RLInput Signal=Flow + Aux2026.06 | 25.494 | |
| Pre-Contact InitInput Signal=Flow + Aux2026.06 | 26.26 | |
| Object-onlymode=Flow + Aux2026.06 | 28.735 | |
| Residual RLmode=Flow + Aux2026.06 | 30.668 | |
| Opt-Pre-Contact Initmode=Flow + Aux2026.06 | 31.336 | |
| Deep-mimic RLInput Signal=Flow2026.06 | 129.924 | |
| Deep-mimic RLmode=Flow2026.06 | 255.311 | |
| Object-onlyInput Signal=Flow2026.06 | 544.88 | |
| Opt-Pre-Contact InitInput Signal=Flow2026.06 | 925.043 | |
| Opt-Pre-Contact InitInput Signal=Flow + Aux2026.06 | 1,018.025 | |
| Object-onlyInput Signal=Flow + Aux2026.06 | 1,065.747 |