ResearchBenchmarksImitation Learning on D3IL Stacking-2Imitation Learning on D3IL Stacking-2Follow72Task Success RateCoRDE47.0453.526066.48Jun 20, 2026Evaluation resultsMethodMethodLinksTask Success RateTask EntropyCoRDEEncoder/Variant=HiMaConEncoder/Variant=HiMaCon2026.06720.38CoRDEEncoder/Variant=AutoCGPEncoder/Variant=AutoCGP2026.06680.36DPRole=TeacherRole=Teacher2026.06560.24VDDVariant=Distill-MoEVariant=Distill-MoE2026.06480.27