ResearchBenchmarksAverage (Across Five Tasks) on Real-robot Manipulation Galaxea A1X 6-DoF armAverage (Across Five Tasks) on Real-robot Manipulation Galaxea A1X 6-DoF armFollow82.5Success RatePACT57.0263.63570.2576.865Jun 2, 2026Evaluation resultsMethodMethodLinksSuccess RateIntervention RateRun Time (min)PACT2026.0682.532.363HIL-SERL2026.065847.180.7