ResearchBenchmarksBook Alignment on IsaacSimBook Alignment on IsaacSimFollow7Success RateAdaptPNP-0.281.613.55.39Nov 14, 2025Evaluation resultsMethodMethodLinksSuccess RateAdaptPNP2025.117RLAlgorithm=PPO, Reward=...Algorithm=PPO, Reward=6D target pose error2025.113MPCOptimization=MPPIOptimization=MPPI2025.111MoKARepresentation=2D keyp...Representation=2D keypoints2025.110MolmoActRepresentation=2D traj...Representation=2D trajectory2025.110OpenVLASetting=zero-shot, Par...Setting=zero-shot, Parameters=7B2025.110