ResearchBenchmarksIsaac-Franka-Cabinet-Direct-v0 on IsaacLabFollow2,300AUC0:NPPO1,2601,5301,8002,070Jun 7, 2026Evaluation ResultsMethodMethodLinksAUC0:NTtauFinal ScoreGain AUC (%)PPOTuning=HARBORTuning=HARBOR2026.062,30019,660,0002,8008.4TD3Tuning=HARBORTuning=HARBOR2026.062,30015,330,0002,90076.6PPOTuning=DefaultTuning=Default2026.062,10024,160,0002,700—SACTuning=HARBORTuning=HARBOR2026.062,00033,220,0002,60043.1SACTuning=DefaultTuning=Default2026.061,400—1,900—TD3Tuning=DefaultTuning=Default2026.061,300—2,000—