ResearchBenchmarksMulti-Task on SimulationFollow70Success RateRLDC3.4420.723855.28Jun 21, 2026Evaluation ResultsMethodMethodLinksSuccess RateRLDCSeparate Head=falseSeparate Head=false2026.0670RLDC2026.0667RLDCState Pre-training=falseState Pre-training=false2026.0657iDP32026.0614DP32026.066