ResearchBenchmarksMug-Handbag cross-category generalization on SimulationMug-Handbag cross-category generalization on SimulationFollow83.07Success RateAffordGen-3.04219.31441.6764.026Apr 12, 2026Evaluation resultsMethodMethodLinksSuccess RateAffordGenZero-shot=trueZero-shot=true2026.0483.07CPGenZero-shot=trueZero-shot=true2026.040.67DemoGenZero-shot=trueZero-shot=true2026.040.27