ResearchBenchmarksBimanual Manipulation on 6-Cup DownstackFollow100Sub-metric #1 Success RateBi-ACT58.469.28090.8Mar 4, 2026Evaluation ResultsMethodMethodLinksSub-metric #1 Success RateSub-metric #2 Success RateSub-metric #3 Success RateSub-metric #4 Success RateSub-metric #5 Success RateSub-metric #6 Success RateSub-metric #7 Success RateSub-metric #8 Success RateOverall Success RateBi-ACTforce feedback=trueforce feedback=true2026.0310010010010010080806060Bi-HILhierarchical task reas...hierarchical task reasoning=true, force feedback=true2026.031001001001008080808080Bi-ACTforce feedback=falseforce feedback=false2026.03606060604040402020