ResearchBenchmarksGPU PickingGPU PickingFollow95Success RateUME-3.821.8547.573.15Jun 12, 2026Evaluation resultsMethodMethodLinksSuccess RateUME2026.0695No-torquetorque modality=falsetorque modality=false2026.0675UMItorque modality=false,...torque modality=false, configuration=end-effector 6D pose2026.060