ResearchBenchmarksInsert Two Sockets on Franka Research 3Follow95Success RateMoRI79.483.4587.591.55Apr 11, 2026Evaluation ResultsMethodMethodLinksSuccess RateEpisode LengthDemo/Replay Buffer Size RatioAuto-Success/Replay Buffer Size RatioMoRITraining Time (mins)=2...Training Time (mins)=241 (-4.4%)2026.0495180.26.274.3ConRFTTraining Time (mins)=252Training Time (mins)=2522026.048097.325.551.9