ResearchBenchmarksClose Box on RLBenchFollow92Success RateA2A2.45625.70348.9572.197Oct 14, 2023Mar 3, 2024Jul 22, 2024Dec 10, 2024Apr 30, 2025Sep 18, 2025Feb 7, 2026Evaluation ResultsMethodMethodLinksSuccess RateA2ASteps=6Steps=62026.0292VITASteps=6Steps=62026.0288FM-UNetSteps=10Steps=102026.0282ACTSteps=1Steps=12026.0282DDPM-UNetSteps=100Steps=1002026.0272DDIM-UNetSteps=40Steps=402026.0270RDM2023.1061.3FM-DiTSteps=10Steps=102026.0258DDPM-DiTSteps=100Steps=1002026.0258DD2023.1046Score-UNetSteps=100Steps=1002026.0236IQL2023.1010.3DT2023.107.8BC2023.105.9