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ResearchFormerly WizWand

Closed-loop Performance on ManiSkill

1Latency (ms)Oracle

Evaluation results

Method	Links
Oracle2026.04		1	1.07	2.69
Ctx-Cond.2026.04		9.4	1.1	2.64
UA-TOM2026.04		9.9	1.01	2.66
Transformer2026.04		10.5	1.29	3.35
Mamba2026.04		10.6	1.11	3.2
LIAM2026.04		11	0.99	2.46
BOCPD2026.04		11.9	1.06	2.96
GRU2026.04		12.4	1.15	2.62
BToM2026.04		12.5	1.2	2.72
No-Detect2026.04		86.2	2.34	3.96