ResearchBenchmarksCup Grasp on Simulation EnvironmentsFollow97.9Success RateRes-RL0.03625.44350.8576.257Jun 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateRes-RL2026.0697.9RialToPost-distillation=truePost-distillation=true2026.0697.5SCORE2026.0696.5SCORE (DSRL)DSRL=trueDSRL=true2026.0694.2FPO2026.0657.9Base2026.063.8