ResearchBenchmarksMug-Handbag cross-category generalization on Real-WorldFollow7Success RateAffordGen-0.281.613.55.39Apr 12, 2026Evaluation ResultsMethodMethodLinksSuccess RateAffordGenZero-shot=trueZero-shot=true2026.047CPGenZero-shot=trueZero-shot=true2026.040DemoGenZero-shot=trueZero-shot=true2026.040