ResearchBenchmarksOpen Door to 90° on Franka Real-World Robot EvaluationOpen Door to 90° on Franka Real-World Robot EvaluationFollow9Success RateMPC_{1k}8.558.77599.225Jun 22, 2026Evaluation resultsMethodMethodLinksSuccess RateNecessary Force/Energy (NFE)MPC_{1k}Trials=10, Evaluation...Trials=10, Evaluation protocol=episode-level mean NFE2026.069159,000AdaRePTrials=10, Evaluation...Trials=10, Evaluation protocol=episode-level mean NFE2026.06914,000