ResearchBenchmarksPick Corn on Real-world Franka Emika Panda robotFollow45Success RateFORCE39.841.1542.543.85Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsFORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.0645153.3BCOnline Fine-tuning=falseOnline Fine-tuning=false2026.0640142.3