ResearchBenchmarksClean Board on Real-world Franka Emika Panda robotFollow50Success RateFORCE44.846.1547.548.85Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsFORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.0650136.5BCOnline Fine-tuning=falseOnline Fine-tuning=false2026.0645142.6