ResearchBenchmarksLong-horizon Robotic Manipulation on Real-world (Visual Distraction)For AI assistantsMarkdownContent indexLong-horizon Robotic Manipulation on Real-world (Visual Distraction)Follow85Success Rate (Step 1)PALM43.454.26575.8Jan 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=true2026.018580656050403.8OpenVLAfine-tuned=truefine-tuned=true2026.0165502515501.6Octofine-tuned=truefine-tuned=true2026.014535150000.95