ResearchBenchmarksImitation Learning on D3IL PushingFollow93Task Success RateCoRDE73.2478.3783.588.63Jun 20, 2026Evaluation ResultsMethodMethodLinksTask Success RateTask EntropyCoRDEEncoder/Variant=AutoCGPEncoder/Variant=AutoCGP2026.06930.76CoRDEEncoder/Variant=HiMaConEncoder/Variant=HiMaCon2026.06880.74VDDVariant=Distill-MoEVariant=Distill-MoE2026.06860.72DPRole=TeacherRole=Teacher2026.06740.66