ResearchBenchmarksImitation Learning on D3IL AvoidingFollow97Task Success RateCoRDE60.670.0579.588.95Jun 20, 2026Evaluation ResultsMethodMethodLinksTask Success RateTask EntropyCoRDEEncoder/Variant=AutoCGPEncoder/Variant=AutoCGP2026.06970.87VDDVariant=Distill-MoEVariant=Distill-MoE2026.06930.78CoRDEEncoder/Variant=HiMaConEncoder/Variant=HiMaCon2026.06920.79DPRole=TeacherRole=Teacher2026.06620.72