ResearchBenchmarksLong-horizon robotic manipulation on Real-world Random LocalizationLong-horizon robotic manipulation on Real-world Random LocalizationFollow70Success Rate (Step 1)PALM33.643.0552.561.95Jan 11, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Step 1)Success Rate (Step 2)Success Rate (Step 3)Success Rate (Step 4)Success Rate (Step 5)Success Rate (Step 6)Average Trajectory LengthPALMfine-tuned=truefine-tuned=true2026.017065554540303.05OpenVLAfine-tuned=truefine-tuned=true2026.014530155000.95Octofine-tuned=truefine-tuned=true2026.013520100000.65