ResearchBenchmarksLong-horizon Manipulation (Average) on Real-world Long-horizon TasksFollow0.85Success RateIG-RFT0.161520.340260.5190.69774Feb 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateIG-RFT2026.020.85AWR2026.020.4IQL2026.020.388SFT2026.020.188