ResearchBenchmarksImitation Learning on AligningImitation Learning on AligningFollow88.125Success RateMIMIC-S50.2086860.0523469.89679.73966Feb 24, 2026Evaluation resultsMethodMethodLinksSuccess RateDistanceEntropyMIMIC-SBase policy network=BESOBase policy network=BESO2026.0288.1250.04230.7215MIMIC-EBase policy network=BESOBase policy network=BESO2026.0286.8750.04760.7706BeSO2026.0285.4170.04950.6141BeT2026.0251.6670.12950.4048