ResearchBenchmarksCan on Robomimic (Success Rate)For AI assistantsMarkdownContent indexCan on Robomimic (Success Rate)Follow88Can Success Rate (Offline)QC-FQL23.31240.10656.973.694May 8, 2026Evaluation resultsMethodMethodLinksCan Success Rate (Offline)Can Success RateCan Success Rate (Online)QC-FQL2026.0588—94.4QC-BFN2026.0583—90.6BFN2026.0559.6—82MVP2026.0546—83.6MVPloss=Ltop-Kloss=Ltop-K2026.0546—86.2FQL2026.0531.2—58.4DFPloss=without Ltop-Kloss=without Ltop-K2026.0525.8—90.4DFPloss=Ltop-Kloss=Ltop-K2026.0525.8—90.6AdaFlowNFE=N/ANFE=N/A2025.06—100—IMLE PolicyNFE=1NFE=12025.06—98—