ResearchBenchmarksImitation Learning on D3IL Stacking-1Follow86Task Success RateCoRDE68.3272.9177.582.09Jun 20, 2026Evaluation ResultsMethodMethodLinksTask Success RateTask EntropyCoRDEEncoder/Variant=AutoCGPEncoder/Variant=AutoCGP2026.06860.64CoRDEEncoder/Variant=HiMaConEncoder/Variant=HiMaCon2026.06830.54DPRole=TeacherRole=Teacher2026.06730.36VDDVariant=Distill-MoEVariant=Distill-MoE2026.06690.44