ResearchBenchmarksHang Keychain on Hang Keychain Real-worldHang Keychain on Hang Keychain Real-worldFollow86.7Success RatePOCO51.96460.9827079.018Apr 2, 2026Evaluation resultsMethodMethodLinksSuccess RatePOCOBase Model=pi0.5, Trai...Base Model=pi0.5, Training Steps=within 15,0002026.0486.7POCOBase Model=GR00T N1.6,...Base Model=GR00T N1.6, Training Steps=within 15,0002026.0483.3SFTBase Model=pi0.5Base Model=pi0.52026.0460SFTBase Model=GR00T N1.6Base Model=GR00T N1.62026.0453.3