ResearchBenchmarksBimodal Mug Selection on Real-world SO101 arm (inference)Bimodal Mug Selection on Real-world SO101 arm (inference)Follow100Correct-mug RateBayesFP70.8878.448693.56Jun 19, 2026Evaluation resultsMethodMethodLinksCorrect-mug RateSuccess RateBayesFPGuidance=Bayesian Filt...Guidance=Bayesian Filtered Posterior, Training=fine-tuned pi_0.5 with 20 demonstrations2026.0610092No Guid.Guidance=None, Trainin...Guidance=None, Training=fine-tuned pi_0.5 with 20 demonstrations2026.067264