PRISM-Physical
1 Benchmark
Physical & Embodied AI
Evaluation of teleoperation, simulation, and policy-transfer for dexterous manipulation on real robot platforms — including the Unitree G1 with BrainCo Revo 2 and Inspire hands across pick-place, fold, pour, and assembly workflows.
Robotic Dexterity Assembly · B4 Dexterous Benchmark
Teleoperation-vs-simulation comparison on the Unitree G1 — 29 dexterous-manipulation datasets · 1,413 episodes · 4 metrics (DMS, GQS, TSR, GAR ratios) and 4 quality gates. 26 / 29 datasets pass all gates. Teleoperation outperforms simulation by up to 80× on Grasp Adaptation Rate (GAR), the decisive metric for real-world policy transfer.
29
Datasets
1,413
Episodes
26 / 29
Pass All Gates
80×
Peak GAR vs Sim
Top Datasets
DMS Ratio · top 12 of 29
Scatter Plot
Full Model Comparison
| DATASET | DMS RATIO | GQS RATIO | TSR RATIO | GAR RATIO | DMS GATE | GQS GATE | TSR GATE | GAR GATE | ALL GATES |
|---|---|---|---|---|---|---|---|---|---|
| G1_WBT_Brainco_Collect_Plates_Into_Dishwasher | 11.97 | 10.94 | 5.67 | 55.05 | Pass | Pass | Pass | Pass | Pass |
| G1_WBT_Brainco_Make_The_Bed | 11.97 | 10.78 | 5.67 | 40.43 | Pass | Pass | Pass | Pass | Pass |
| G1_WBT_Inspire_Put_Clothes_into_Washing_Machine | 11.97 | 13.63 | 5.67 | 44.78 | Pass | Pass | Pass | Pass | Pass |
| G1_WBT_Inspire_Collect_Clothes_MainCamOnly | 11.97 | 4.98 | 5.67 | 80.75 | Pass | Pass | Pass | Pass | Pass |
| G1_WBT_Inspire_Put_Clothes_Into_Basket | 11.97 | 13.63 | 5.67 | 58.48 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex3_ObjectPlacement | 7.48 | 13.64 | 5.78 | 2.86 | Pass | Pass | Pass | Pass | Pass |
| Z1_Dual_Dex1_StackBox | 7.47 | 13.63 | 5.67 | 0 | Pass | Pass | Pass | Fail | Fail |
| G1_Dex1_Stack_Block | 7.23 | 9.79 | 5.67 | 8.23 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Erase_Board | 7.19 | 5.31 | 5.67 | 9.87 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Wipe_Table | 7.06 | 6.02 | 5.67 | 9 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex3_BlockStacking | 7 | 5.95 | 5.67 | 55.4 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex3_GraspSquare | 7 | 5.95 | 5.67 | 55.4 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Organize_Tools | 6.93 | 13.63 | 5.67 | 4.41 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_DualRobot_Clean_Table | 6.92 | 13.63 | 5.67 | 4.3 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_MountCamera | 6.91 | 11.33 | 5.67 | 3.46 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex3_Pouring | 6.9 | 6.18 | 5.67 | 54.3 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex3_CameraPackaging | 6.87 | 9.12 | 5.67 | 30.86 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_MountCameraRedGripper | 6.86 | 12.92 | 5.67 | 3.61 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Bag_Insert | 6.83 | 13.63 | 5.67 | 4.08 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Clean_Table | 6.81 | 13.63 | 5.67 | 4.25 | Pass | Pass | Pass | Pass | Pass |
| Z1_Dual_Dex1_FoldClothes | 6.73 | 13.63 | 5.67 | 0 | Pass | Pass | Pass | Fail | Fail |
| G1_Dex1_Dex1_Fold_Towel | 6.66 | 13.63 | 5.67 | 4.1 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Pack_PencilBox | 6.59 | 13.63 | 5.67 | 4.37 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Prepare_Fruit | 6.54 | 9.38 | 5.67 | 6.93 | Pass | Pass | Pass | Pass | Pass |
| G1_Dex1_Pour_Medicine | 6.49 | 6.75 | 5.67 | 9.66 | Pass | Pass | Pass | Pass | Pass |
| Z1_Dual_Dex1_PourCoffee | 6.34 | 13.63 | 5.67 | 0 | Pass | Pass | Pass | Fail | Fail |
| G1_Dex3_ToastedBread | 3.31 | 2.72 | 2.83 | 20.56 | Pass | Pass | Pass | Pass | Pass |
| G1_Brainco_GraspOreo | 3.3 | 3.27 | 2.83 | 19.7 | Pass | Pass | Pass | Pass | Pass |
| G1_Brainco_GraspRubiksCube | 3.26 | 3.6 | 2.83 | 18.47 | Pass | Pass | Pass | Pass | Pass |
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