ResearchBenchmarksPick Pen on Pick Pen Real-worldPick Pen on Pick Pen Real-worldFollow93.3Success RatePOCO62.170.278.386.4Apr 2, 2026Evaluation resultsMethodMethodLinksSuccess RatePOCOBase Model=pi0.5, Trai...Base Model=pi0.5, Training Steps=within 15,0002026.0493.3POCOBase Model=GR00T N1.6,...Base Model=GR00T N1.6, Training Steps=within 15,0002026.0486.7SFTBase Model=pi0.5Base Model=pi0.52026.0476.7SFTBase Model=GR00T N1.6Base Model=GR00T N1.62026.0463.3