ResearchBenchmarksDual Arm Clean on Real-world manipulation dataset R1 humanoid (DAC)Dual Arm Clean on Real-world manipulation dataset R1 humanoid (DAC)Follow30Success RateViTaS19.622.32527.7Feb 12, 2026Evaluation resultsMethodMethodLinksSuccess RateViTaSInput=head camera and...Input=head camera and tactile sensor2026.0230DPInput=head, left, righ...Input=head, left, right cameras, Encoder=learning-from-scratch CNN encoder2026.0220