ResearchBenchmarksDrawer Manipulation on Real-world robot manipulationFollow9.5Task ScoreLegato9.1889.2699.359.431Feb 13, 2026Evaluation ResultsMethodMethodLinksTask ScoreCompletion Time (s)NLDLJNSPARCOverlap RMSELegato2026.029.521.828.551.9911,740RTC2026.029.225.9732.732.2412,110