ResearchBenchmarksContact-Rich Manipulation on PushT (test)Contact-Rich Manipulation on PushT (test)Follow0.94ScoreFPG0.90880.91690.9250.9331May 28, 2026Evaluation resultsMethodMethodLinksScoreFPGbackbone=Diffusion Policybackbone=Diffusion Policy2026.050.94Baselinebackbone=Diffusion Policybackbone=Diffusion Policy2026.050.91