ResearchBenchmarksMulti-Object on SimulationFollow81.2Success RateRLDC39.39250.24661.171.954Jun 21, 2026Evaluation ResultsMethodMethodLinksSuccess RateRLDCSeparate Head=falseSeparate Head=false2026.0681.2RLDC2026.0680RLDCState Pre-training=falseState Pre-training=false2026.0672DP32026.0642iDP32026.0641