ResearchBenchmarksPick Cup on Real-world Franka Emika Panda robotFollow45Success RateFORCE34.637.34042.7Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsFORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.0645125.2BCOnline Fine-tuning=falseOnline Fine-tuning=false2026.0635134.5