ResearchBenchmarksDexterous Manipulation on AllegroHandFollow14,421Average PerformanceCPO10,279.7211,354.8612,43013,505.14Mar 2, 2026Evaluation ResultsMethodMethodLinksAverage PerformanceCPOEnvironment steps=2 ×...Environment steps=2 × 10^102026.0314,421PBTEnvironment steps=2 ×...Environment steps=2 × 10^102026.0313,239SAPGEnvironment steps=2 ×...Environment steps=2 × 10^102026.0311,989PPOEnvironment steps=2 ×...Environment steps=2 × 10^102026.0310,439