ResearchBenchmarksHammer Retrieval on Cluttered Drawer $T_1$ (train)Hammer Retrieval on Cluttered Drawer $T_1$ (train)Follow95Success RateReSYNC7.6430.325375.68Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess RateReSYNCHorizon=500Horizon=5002026.0695GNNHorizon=500Horizon=5002026.0686DSG-SHorizon=500Horizon=5002026.0673RC+IVNTRHorizon=500Horizon=5002026.0669VLM-OSHorizon=500Horizon=5002026.0668RCHorizon=500Horizon=5002026.0668DSG-MHorizon=500Horizon=5002026.0613TFHorizon=500Horizon=5002026.0611