ResearchBenchmarksBox-Delivery on Bench-NPIN LargeDividerFollow34,569Delivery DistanceHeRD7,743.28188,816.89369,890.5550,964.11Dec 10, 2025Evaluation ResultsMethodMethodLinksDelivery DistanceBoxes HandledHeRDTraining Regime=Single...Training Regime=Single generalized policy2025.1234,569—SAMTraining Regime=Per en...Training Regime=Per environment2025.12705,212—