ResearchBenchmarksBimanual robotic manipulation on RoboTwin Easy (in-domain)Follow77Beat BlockRDT40.650.0559.568.95Dec 19, 2025Evaluation ResultsMethodMethodLinksBeat BlockClick AlarmclockMove Can PotMove PlayingcardPlace ShoeScan ObjectStack Blocks TwoAverage Success RateRDT2025.12776125433542138Ours (π0)strategy=joint learningstrategy=joint learning2025.126765815743276658ACT2025.1256322236522525.4π02025.125179434231195145.1DP2025.1242613947239732.6