ResearchBenchmarksImitation Learning on D3IL AligningFollow88Task Success RateCoRDE73.4477.228184.78Jun 20, 2026Evaluation ResultsMethodMethodLinksTask Success RateTask EntropyCoRDEEncoder/Variant=AutoCGPEncoder/Variant=AutoCGP2026.06880.47VDDVariant=Distill-MoEVariant=Distill-MoE2026.06850.38CoRDEEncoder/Variant=HiMaConEncoder/Variant=HiMaCon2026.06820.48DPRole=TeacherRole=Teacher2026.06740.38