ResearchBenchmarksKnife-Saw cross-category generalization on SimulationKnife-Saw cross-category generalization on SimulationFollow40.22Success RateAffordGen-0.454410.105320.66531.2247Apr 12, 2026Evaluation resultsMethodMethodLinksSuccess RateAffordGenZero-shot=trueZero-shot=true2026.0440.22DemoGenZero-shot=trueZero-shot=true2026.041.56CPGenZero-shot=trueZero-shot=true2026.041.11