ResearchBenchmarksBox-Delivery on Bench-NPIN LargeColumnsFollow33,967Delivery DistanceHeRD13,277.44152,931.97292,586.5432,241.03Dec 10, 2025Evaluation ResultsMethodMethodLinksDelivery DistanceBoxes HandledHeRDTraining Regime=Single...Training Regime=Single generalized policy2025.1233,967—SAMTraining Regime=Per en...Training Regime=Per environment2025.12551,206—