ResearchBenchmarksInsertion on Real-world (test)Insertion on Real-world (test)Follow16Success RateRLDC2.485.999.513.01Jun 16, 2026Jun 17, 2026Jun 18, 2026Jun 19, 2026Jun 20, 2026Jun 21, 2026Evaluation resultsMethodMethodLinksSuccess RateRLDC2026.0616AnnotateAnythingevaluation_mode=Zero-s...evaluation_mode=Zero-shot, training_source=annotation-enabled simulation rollouts, domain_randomization=true2026.0614RLDCAblation=without state...Ablation=without state pre-training2026.0612RLDCAblation=without separ...Ablation=without separate head2026.068DP32026.065iDP32026.063