ResearchBenchmarksBottle Grasp on Real-world 1.0 (test)Bottle Grasp on Real-world 1.0 (test)Follow100Success RateSCORE (DSRL)4861.57588.5Jun 25, 2026Evaluation resultsMethodMethodLinksSuccess RateSCORE (DSRL)variant=DSRLvariant=DSRL2026.06100SCORE2026.06100Base2026.0691.7Res-RL2026.0687.5RialTo2026.0658.3FPO2026.0650