ResearchBenchmarksLong-horizon robotic manipulation on Real-world Unseen LightingFor AI assistantsMarkdownContent indexLong-horizon robotic manipulation on Real-world Unseen LightingFollow80Success Rate (Step 1)PALM48.856.96573.1Jan 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 LengthPALMfine-tuned=truefine-tuned=true2026.018070606045403.55OpenVLAfine-tuned=truefine-tuned=true2026.0155352510001.25Octofine-tuned=truefine-tuned=true2026.015035155001.05