ResearchBenchmarksKnife-Saw cross-category generalization on Real-WorldFollow9Success RateAffordGen0.682.8457.16Apr 12, 2026Evaluation ResultsMethodMethodLinksSuccess RateAffordGenZero-shot=trueZero-shot=true2026.049CPGenZero-shot=trueZero-shot=true2026.041DemoGenZero-shot=trueZero-shot=true2026.041