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Real-World Policy Evaluation

Original (real) vs Control (URDF) vs Generated across four tasks — 20 demonstrations each.

Bag

“a robot arm attempting to pick up an orange and placing it in a bag”

Demo 1

Original (real)
Control (URDF)
Generated

Demo 2

Original (real)
Control (URDF)
Generated

Demo 3

Original (real)
Control (URDF)
Generated

Demo 4

Original (real)
Control (URDF)
Generated

Demo 5

Original (real)
Control (URDF)
Generated

Demo 6

Original (real)
Control (URDF)
Generated

Demo 7

Original (real)
Control (URDF)
Generated

Demo 8

Original (real)
Control (URDF)
Generated

Demo 9

Original (real)
Control (URDF)
Generated

Demo 10

Original (real)
Control (URDF)
Generated

Demo 11

Original (real)
Control (URDF)
Generated

Demo 12

Original (real)
Control (URDF)
Generated

Demo 13

Original (real)
Control (URDF)
Generated

Demo 14

Original (real)
Control (URDF)
Generated

Demo 15

Original (real)
Control (URDF)
Generated

Demo 16

Original (real)
Control (URDF)
Generated

Demo 17

Original (real)
Control (URDF)
Generated

Demo 18

Original (real)
Control (URDF)
Generated

Demo 19

Original (real)
Control (URDF)
Generated

Demo 20

Original (real)
Control (URDF)
Generated

Block

“a robot arm attempting to pick up and stack colored blocks”

Demo 1

Original (real)
Control (URDF)
Generated

Demo 2

Original (real)
Control (URDF)
Generated

Demo 3

Original (real)
Control (URDF)
Generated

Demo 4

Original (real)
Control (URDF)
Generated

Demo 5

Original (real)
Control (URDF)
Generated

Demo 6

Original (real)
Control (URDF)
Generated

Demo 7

Original (real)
Control (URDF)
Generated

Demo 8

Original (real)
Control (URDF)
Generated

Demo 9

Original (real)
Control (URDF)
Generated

Demo 10

Original (real)
Control (URDF)
Generated

Demo 11

Original (real)
Control (URDF)
Generated

Demo 12

Original (real)
Control (URDF)
Generated

Demo 13

Original (real)
Control (URDF)
Generated

Demo 14

Original (real)
Control (URDF)
Generated

Demo 15

Original (real)
Control (URDF)
Generated

Demo 16

Original (real)
Control (URDF)
Generated

Demo 17

Original (real)
Control (URDF)
Generated

Demo 18

Original (real)
Control (URDF)
Generated

Demo 19

Original (real)
Control (URDF)
Generated

Demo 20

Original (real)
Control (URDF)
Generated

Towel

“a robot arm attempting to pick up a towel and placing it in a bowl”

Demo 1

Original (real)
Control (URDF)
Generated

Demo 2

Original (real)
Control (URDF)
Generated

Demo 3

Original (real)
Control (URDF)
Generated

Demo 4

Original (real)
Control (URDF)
Generated

Demo 5

Original (real)
Control (URDF)
Generated

Demo 6

Original (real)
Control (URDF)
Generated

Demo 7

Original (real)
Control (URDF)
Generated

Demo 8

Original (real)
Control (URDF)
Generated

Demo 9

Original (real)
Control (URDF)
Generated

Demo 10

Original (real)
Control (URDF)
Generated

Demo 11

Original (real)
Control (URDF)
Generated

Demo 12

Original (real)
Control (URDF)
Generated

Demo 13

Original (real)
Control (URDF)
Generated

Demo 14

Original (real)
Control (URDF)
Generated

Demo 15

Original (real)
Control (URDF)
Generated

Demo 16

Original (real)
Control (URDF)
Generated

Demo 17

Original (real)
Control (URDF)
Generated

Demo 18

Original (real)
Control (URDF)
Generated

Demo 19

Original (real)
Control (URDF)
Generated

Demo 20

Original (real)
Control (URDF)
Generated

Drawer

“a robot arm attempting to close a drawer”

Demo 1

Original (real)
Control (URDF)
Generated

Demo 2

Original (real)
Control (URDF)
Generated

Demo 3

Original (real)
Control (URDF)
Generated

Demo 4

Original (real)
Control (URDF)
Generated

Demo 5

Original (real)
Control (URDF)
Generated

Demo 6

Original (real)
Control (URDF)
Generated

Demo 7

Original (real)
Control (URDF)
Generated

Demo 8

Original (real)
Control (URDF)
Generated

Demo 9

Original (real)
Control (URDF)
Generated

Demo 10

Original (real)
Control (URDF)
Generated

Demo 11

Original (real)
Control (URDF)
Generated

Demo 12

Original (real)
Control (URDF)
Generated

Demo 13

Original (real)
Control (URDF)
Generated

Demo 14

Original (real)
Control (URDF)
Generated

Demo 15

Original (real)
Control (URDF)
Generated

Demo 16

Original (real)
Control (URDF)
Generated

Demo 17

Original (real)
Control (URDF)
Generated

Demo 18

Original (real)
Control (URDF)
Generated

Demo 19

Original (real)
Control (URDF)
Generated

Demo 20

Original (real)
Control (URDF)
Generated