ResearchBenchmarksBimanual Multi-Task Learning on RLBench 2Follow19Tray Success RateSMP9.6412.0714.516.93Jan 29, 2026Evaluation ResultsMethodMethodLinksTray Success RateRope Success RateOven Success RateSweep Success RateAverage Success RateSMP2026.011920142018RDT2026.011817132017ACT2026.011515121815Sparse DP2026.011518121716Disc. Policy2026.01131471713DP2026.0110138910