ResearchBenchmarksOpen Drawer on Real-world Franka Emika Panda robotFollow55Success RateFORCE34.239.64550.4Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsFORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.065563.3BCOnline Fine-tuning=falseOnline Fine-tuning=false2026.063557.4