ResearchBenchmarksManipulation on SO-100 arm Manipulation real-world closed-loopManipulation on SO-100 arm Manipulation real-world closed-loopFollow90Success RateKDP87.9288.468989.54Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess RateTime to Success (s)KDPReplan (Hz)=17, Planne...Replan (Hz)=17, Planner p50=9, E2E p50=47, K=642026.039032DiffuserReplan (Hz)=3, Planner...Replan (Hz)=3, Planner p50=311, E2E p50=410, K=64, T=202026.038835