ResearchBenchmarksHammer Retrieval on Cluttered Drawer $T_1$Hammer Retrieval on Cluttered Drawer $T_1$Follow76Success RateReSYNC-3.0417.483858.52Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess RateReSYNCHorizon=800Horizon=8002026.0676RC+IVNTRHorizon=800Horizon=8002026.0658VLM-OSHorizon=800Horizon=8002026.0650DSG-SHorizon=800Horizon=8002026.0638RCHorizon=800Horizon=8002026.0635DSG-MHorizon=800Horizon=8002026.069GNNHorizon=800Horizon=8002026.060TFHorizon=800Horizon=8002026.060