ResearchBenchmarksMove bottle onto pad on Real-world PiPer embodimentFollow66Success Rateπ0.5-2.6415.183350.82Dec 17, 2025Evaluation ResultsMethodMethodLinksSuccess RateCompletionTimeπ0.52025.12667756.2MiVLA2025.12547137.2H-RDT2025.12364737π02025.12203766.2ACT2025.1200—