ResearchBenchmarksHammer Retrieval on Cluttered Drawer $T_2$ (train)Hammer Retrieval on Cluttered Drawer $T_2$ (train)Follow69Success RateGNN-2.7615.8734.553.13Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess RateGNNHorizon=800Horizon=8002026.0669DSG-SHorizon=800Horizon=8002026.0667RC+IVNTRHorizon=800Horizon=8002026.0664ReSYNCHorizon=800Horizon=8002026.0664RCHorizon=800Horizon=8002026.0662VLM-OSHorizon=800Horizon=8002026.0618TFHorizon=800Horizon=8002026.063DSG-MHorizon=800Horizon=8002026.060