ResearchBenchmarksCross-domain demo-to-code on Kinematic configuration and Gripper type Medium-ComplexityCross-domain demo-to-code on Kinematic configuration and Gripper type Medium-ComplexityFollow78.33Success Rate (SR)NESYCR22.866837.265951.66566.0641Mar 19, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Goal Completion (GC)Policy Deviation (PD)NESYCR2026.0378.33855.11GPT4V-Robotics2026.0356.6781.6738.86Statler2026.035070.5653.35LLM-DM2026.033562.2281.69MoReVQA2026.0331.6770.5646.43Demo2Code2026.032528.330Critic-V2026.032559.448