ResearchBenchmarksJar Opening on Physical Experiment Jar OpeningFollow96Success RateTDP83.5286.769093.24Apr 26, 2026Evaluation ResultsMethodMethodLinksSuccess RateDenoising Latency (s)Streaming Latency (s)TDPDDIM steps=3DDIM steps=32026.04960.0080.003DPDDIM steps=3DDIM steps=32026.04840.037—