ResearchBenchmarksBox Alignment on IsaacSimBox Alignment on IsaacSimFollow90Success RateRL6.828.45071.6Nov 14, 2025Evaluation resultsMethodMethodLinksSuccess RateRLAlgorithm=PPO, Reward=...Algorithm=PPO, Reward=6D target pose error2025.1190AdaptPNP2025.1190MPCOptimization=MPPIOptimization=MPPI2025.1180MolmoActRepresentation=2D traj...Representation=2D trajectory2025.1130MoKARepresentation=2D keyp...Representation=2D keypoints2025.1120OpenVLASetting=zero-shot, Par...Setting=zero-shot, Parameters=7B2025.1110