ResearchBenchmarksBottle Grasp on Simulation EnvironmentsFollow96.7Success RateSCORE-3.86822.24148.3574.459Jun 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateSCORE2026.0696.7SCORE (DSRL)DSRL=trueDSRL=true2026.0694.5FPO2026.0683.8RialToPost-distillation=truePost-distillation=true2026.0682.5Res-RL2026.0681.8Base2026.060