ResearchBenchmarksBlock Placement in Drawer on Real-world Tabletop Tasks Franka EmikaFollow70Success RateDP+AEM-2.816.13553.9Jun 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateDP+AEMSetting=StandardSetting=Standard2026.0670DP+AEMSetting=w/ DistractorsSetting=w/ Distractors2026.0645DPSetting=StandardSetting=Standard2026.0620DPSetting=w/ DistractorsSetting=w/ Distractors2026.060