EPIC distance

anchor

Findings

• IC-940CLIP can specify 5 of 8 complex humanoid tasks from single-sentence prompts, failing on tasks requiring discrimination of subtle body-pose differences [eval]
• IC-941CLIP reward model quality scales with model size, with a sharp phase transition between ViT-H/14 and ViT-BigG/14 for the humanoid kneeling task [eval]