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<!DOCTYPE html>
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content="ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors">
<meta name="keywords" content="Sim-to-Real, Offline-to-Online RL, Diffusion Policy">
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<h1 class="title is-2 publication-title"><span class="textsc">ExpertGen</span>: Scalable Sim-to-Real Expert
Policy Learning from Imperfect Behavior Priors</h1>
<br>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://daffan.github.io/">Zifan Xu</a><sup>1,2</sup><sup>*</sup>,</span>
<span class="author-block">
<a href="https://nikepupu.github.io/">Ran Gong</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=zKWcawIAAAAJ&hl=en">Maria Vittoria
Minniti</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/ahmet-salih-gundogdu/">Ahmet Salih Gundogdu</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://eric-rosen.github.io/">Eric Rosen</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://kausiksivakumar.github.io/">Kausik Sivakumar</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/riedana-yan-798471192/">Riedana Yan</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://wzx16.github.io/">Zixing Wang</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=zumK8HkAAAAJ&hl=en">Di Deng</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.cs.utexas.edu/~pstone/">Peter Stone</a><sup>2,3</sup>,</span>
<span class="author-block">
<a href="https://keke-220.github.io/">Xiaohan Zhang</a><sup>1</sup><sup>†</sup>,</span>
<span class="author-block">
<a href="https://sites.google.com/view/karlschmeckpeper">Karl
Schmeckpeper</a><sup>1</sup><sup>†</sup></span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Robotics and AI Institute,</span>
<span class="author-block"><sup>2</sup>University of Texas at Austin,</span>
<span class="author-block"><sup>3</sup>Sony AI</span>
</div>
<div class="is-size-6 publication-authors">
<span class="author-block"><sup>*</sup> The work is done while Zifan was an intern at RAI.</span>
<span class="author-block"><sup>†</sup> Equal advising.</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
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<a href="./static/pdf/RSS_2026__ExpertGen.pdf"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2603.15956" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
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<span>Code (Coming Soon)</span>
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class="external-link button is-normal is-rounded is-dark">
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<span>Data</span>
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</div>
</section>
<section class="hero teaser">
<!-- <div class="container is-max-desktop">
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<div class="column is-4-desktop is-6-tablet">
<video class="teaser-video" autoplay controls muted loop playsinline>
<source src="./static/videos_compressed/ExpertGen-BananaLift.mp4" type="video/mp4">
</video>
</div>
<div class="column is-4-desktop is-6-tablet">
<video class="teaser-video" autoplay controls muted loop playsinline>
<source src="./static/videos_compressed/ExpertGen-OpenDrawer.mp4" type="video/mp4">
</video>
</div>
<div class="column is-4-desktop is-6-tablet">
<video class="teaser-video" autoplay controls muted loop playsinline>
<source src="./static/videos_compressed/ExpertGen-PushPear.mp4" type="video/mp4">
</video>
</div>
</div>
<h2 class="subtitle has-text-centered">
Zero-shot sim-to-real trasnfer of visuomotor policies without <i>any</i> reward engineering.
</h2>
</div>
</div> -->
<div class="container is-max-desktop">
<div class="hero-body has-text-centered">
<figure class="image">
<img class="teaser-image" src="./static/images/teaser.png" alt="ExpertGen teaser figure">
</figure>
<span class="textsc has-text-centered">ExpertGen</span> pipeline: (left) generative modeling of imperfect
behavior priors; (middle) steering prior model in massively parallel simulation using RL; and (right) visual
distillation in simulation with DAgger for zero-shot sim-to-real transfer.</span>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
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<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Learning generalizable and robust behavior cloning policies requires large volumes
of high-quality robotics data. While human demonstrations (e.g., through teleoperation)
serve as the standard source for expert behaviors, acquiring such data at scale in the
real world is prohibitively expensive. This paper introduces <span class="textsc">ExpertGen</span>, a
framework that automates expert policy learning in simulation to enable scalable
sim-to-real transfer. <span class="textsc">ExpertGen</span> first initializes a behavior prior using a
diffusion policy trained on imperfect demonstrations, which may be synthesized by
large language models or provided by humans. Reinforcement learning is then used
to steer this prior toward high task success by optimizing the diffusion model’s
initial noise while keep original policy frozen. By keeping the pretrained diffusion
policy frozen, <span class="textsc">ExpertGen</span> regularizes exploration to remain within safe,
human-like behavior manifolds, while also enabling effective learning with only sparse rewards.
</p>
<p>
Empirical evaluations on challenging manipulation benchmarks demonstrate that <span
class="textsc">ExpertGen</span>
reliably produces high-quality expert policies with no reward engineering. On industrial
assembly tasks, <span class="textsc">ExpertGen</span> achieves a 90.5% overall success rate, while on
long-horizon manipulation tasks it attains 85% overall success, outperforming all
baseline methods. The resulting policies exhibit dexterous control and remain robust
across diverse initial configurations and failure states. To validate sim-to-real transfer
, the learned state-based expert policies are further distilled into visuomotor policies
via DAgger and successfully deployed on real robotic hardware.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
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frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
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</div> -->
<!--/ Paper video. -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-full-width">
<h2 class="title is-3">Zero-shot Sim-to-Real Transfer</h2>
<div class="buttons is-centered sim2real-selector">
<button class="button is-link is-light is-selected" type="button" data-sim2real-target="banana-lift"
aria-controls="sim2real-panel-banana-lift" aria-selected="true">
Lift Banana
</button>
<button class="button is-link is-light" type="button" data-sim2real-target="open-drawer"
aria-controls="sim2real-panel-open-drawer" aria-selected="false">
Open Drawer
</button>
<button class="button is-link is-light" type="button" data-sim2real-target="push-pear"
aria-controls="sim2real-panel-push-pear" aria-selected="false">
Push Pear
</button>
</div>
<div class="sim2real-panels">
<div id="sim2real-panel-banana-lift" class="sim2real-panel">
<video id="banana-lift-video" controls muted autoplay loop playsinline width="75%"
style="border-radius: 10px;">
<source src="./static/videos_compressed/ExpertGen-BananaLift.mp4" type="video/mp4">
</video>
</div>
<div id="sim2real-panel-open-drawer" class="sim2real-panel is-hidden">
<video id="open-drawer-video" controls muted autoplay loop playsinline width="75%"
style="border-radius: 10px;">
<source src="./static/videos_compressed/ExpertGen-OpenDrawer.mp4" type="video/mp4">
</video>
</div>
<div id="sim2real-panel-push-pear" class="sim2real-panel is-hidden">
<video id="push-pear-video" controls muted autoplay loop playsinline width="75%"
style="border-radius: 10px;">
<source src="./static/videos_compressed/ExpertGen-PushPear.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-full-width">
<h2 class="title is-3">Baselines</h2>
<div class="buttons is-centered is-small compare-task-selector">
<button class="button is-link is-light is-selected" type="button" data-compare-task="task-0"
aria-controls="compare-task-0" aria-selected="true">
Lift Banana
</button>
<button class="button is-link is-light" type="button" data-compare-task="task-2"
aria-controls="compare-task-2" aria-selected="false">
Open Drawer
</button>
<button class="button is-link is-light" type="button" data-compare-task="task-6"
aria-controls="compare-task-6" aria-selected="false">
Push Pear
</button>
</div>
<div class="compare-task-panels">
<div id="compare-task-0" class="compare-task-panel">
<!-- <h3 class="title is-4">Lift Banana</h3> -->
<div class="columns is-variable is-3 is-centered compare-row">
<div class="column is-4">
<p class="has-text-centered"><b>ExpertGen</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_0_expertgen.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Robust recovery from banana dropping</p>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Diffusion Policy</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_0_base.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Fails to recover from banana dropping</p>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Residual RL</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_0_residual.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Fails to recover from banana dropping</p>
</div>
</div>
</div>
<div id="compare-task-2" class="compare-task-panel is-compare-hidden">
<!-- <h3 class="title is-4">Open Drawer</h3> -->
<div class="columns is-variable is-3 is-centered compare-row">
<div class="column is-4">
<p class="has-text-centered"><b>ExpertGen</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_2_expertgen.mp4" type="video/mp4">
</video>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Diffusion Policy</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_2_base.mp4" type="video/mp4">
</video>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Residual RL</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_2_residual.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div id="compare-task-6" class="compare-task-panel is-compare-hidden">
<div class="columns is-variable is-3 is-centered compare-row">
<div class="column is-4">
<p class="has-text-centered"><b>ExpertGen</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_6_expertgen.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Close-loop control that pushes</p>
<p class="has-text-centered">the pear to the exact goal position</p>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Diffusion Policy</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_6_base.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Open-loop control with the pear</p>
<p class="has-text-centered">oscillating around the goal position</p>
</div>
<div class="column is-4">
<p class="has-text-centered"><b>Residual RL</b></p>
<video class="compare-video" controls muted autoplay loop playsinline>
<source src="./static/videos_compressed/compare/task_6_residual.mp4" type="video/mp4">
</video>
<p class="has-text-centered">Fails to push the pear to the goal position</p>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero is-light is-small has-text-centered">
<div class="hero-body">
<div class="container">
<h2 class="title is-3">ExpertGen (Simulation) - AnyTask</h2>
<div class="buttons is-centered is-small anytask-selector">
<button class="button is-link is-light is-selected" type="button" data-anytask-target="lift-banana"
aria-controls="anytask-panel-lift-banana" aria-selected="true">
Lift Banana
</button>
<button class="button is-link is-light" type="button" data-anytask-target="lift-brick"
aria-controls="anytask-panel-lift-brick" aria-selected="false">
Lift Brick
</button>
<button class="button is-link is-light" type="button" data-anytask-target="open-drawer"
aria-controls="anytask-panel-open-drawer" aria-selected="false">
Open Drawer
</button>
<button class="button is-link is-light" type="button" data-anytask-target="stack-banana"
aria-controls="anytask-panel-stack-banana" aria-selected="false">
Stack Banana
</button>
<button class="button is-link is-light" type="button" data-anytask-target="lift-pear"
aria-controls="anytask-panel-lift-pear" aria-selected="false">
Lift Peach
</button>
<button class="button is-link is-light" type="button" data-anytask-target="put-object-in-closed-drawer"
aria-controls="anytask-panel-put-object-in-closed-drawer" aria-selected="false">
Put Object in Closed Drawer
</button>
<button class="button is-link is-light" type="button" data-anytask-target="push-pear"
aria-controls="anytask-panel-push-pear" aria-selected="false">
Push Pear
</button>
<button class="button is-link is-light" type="button" data-anytask-target="put-strawberry-in-bowl"
aria-controls="anytask-panel-put-strawberry-in-bowl" aria-selected="false">
Put Strawberry in Bowl
</button>
</div>
<div class="anytask-panels">
<div id="anytask-panel-lift-banana" class="anytask-panel">
<!-- Lift Banana. -->
<!-- <h3 class="title is-4">Lift Banana</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/0/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/automate/00783/env_8_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-lift-brick" class="anytask-panel is-anytask-hidden">
<!-- Lift Brick. -->
<!-- <h3 class="title is-4">Lift Brick</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/1/env_8_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-open-drawer" class="anytask-panel is-anytask-hidden">
<!-- Open Drawer. -->
<!-- <h3 class="title is-4">Open Drawer</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/2/env_8_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-stack-banana" class="anytask-panel is-anytask-hidden">
<!-- Stack Banana. -->
<!-- <h3 class="title is-4">Stack Banana</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/02/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/02/env_8_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/02/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/3/01/env_2_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-lift-pear" class="anytask-panel is-anytask-hidden">
<!-- Lift Pear. -->
<!-- <h3 class="title is-4">Lift Pear</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/4/env_8_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-put-object-in-closed-drawer" class="anytask-panel is-anytask-hidden">
<!-- Put Object in Closed Drawer. -->
<!-- <h3 class="title is-4">Put Object in Closed Drawer</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/01/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/01/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/02/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/01/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/01/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/02/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/02/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/01/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/5/02/env_0_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-push-pear" class="anytask-panel is-anytask-hidden">
<!-- Push Pear. -->
<!-- <h3 class="title is-4">Push Pear</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_6_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_7_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-towel">
<video poster="" id="towel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/6/env_8_recording.mp4" type="video/mp4">
</video>
</div>
</div>
<br />
</div>
<div id="anytask-panel-put-strawberry-in-bowl" class="anytask-panel is-anytask-hidden">
<!-- Put Strawberry in Bowl. -->
<!-- <h3 class="title is-4">Put Strawberry in Bowl</h3> -->
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/02/env_0_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/02/env_1_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/02/env_2_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/01/env_3_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/01/env_4_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/02/env_5_recording.mp4" type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos_compressed/anytask/7/02/env_6_recording.mp4" type="video/mp4">
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