ResearchBenchmarksInsert USB on Real-world Franka Emika Panda robotFollow75Success RateBC59.463.4567.571.55Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsBCOnline Fine-tuning=falseOnline Fine-tuning=false2026.067544.5FORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.066042.7