ResearchBenchmarksPick & Place on RLBench Put A in B Instance-level substitutionFollow61.3Success RateFuncanon32.1839.7447.354.86Sep 23, 2025Evaluation ResultsMethodMethodLinksSuccess RateFuncanonSubstitution Type=Inst...Substitution Type=Instance2025.0961.3SPOTSubstitution Type=Inst...Substitution Type=Instance2025.0950.73DASubstitution Type=Inst...Substitution Type=Instance2025.0933.3