ResearchBenchmarksButton Press on Meta-World Button Press human preferencesFollow57.2Success RatePAWS44.247.57550.9554.325Jun 10, 2026Evaluation ResultsMethodMethodLinksSuccess RatePAWSArchitecture=TransformerArchitecture=Transformer2026.0657.2PAWSArchitecture=MLPArchitecture=MLP2026.0656.2Pref Trans.2026.0655.2P-IQL2026.0653.2CPL+KL2026.0649IPL2026.0647.8CPL2026.0647.5BC2026.0644.7