ResearchBenchmarksManipulation on MetaWorld Button-Press-Topdown (human-labeled)Follow71.2PerformanceFB-PbRL49.56855.18460.866.416May 31, 2026Evaluation ResultsMethodMethodLinksPerformanceFB-PbRLfine-tuning=truefine-tuning=true2026.0571.2LiRE2026.0570DPPO2026.0550.4