ResearchBenchmarksInsert Plug on Real-world Assembly AssetsInsert Plug on Real-world Assembly AssetsFollow13Success RateAssemLM5.727.619.511.39Apr 10, 2026Evaluation resultsMethodMethodLinksSuccess RateAssemLMRobot Arm=Flexiv Rizon...Robot Arm=Flexiv Rizon 4s, Initializations=30, Fine-tuning Protocol=Fine-tuned on real-world assets2026.0413TwoByTwoRobot Arm=Flexiv Rizon...Robot Arm=Flexiv Rizon 4s, Initializations=30, Fine-tuning Protocol=Fine-tuned on real-world assets2026.046