ResearchBenchmarksPick-Place Bowl on LIBEROFollow92Success RateVITA0.4824.244871.76Feb 7, 2026Evaluation ResultsMethodMethodLinksSuccess RateVITASteps=6Steps=62026.0292A2ASteps=6Steps=62026.0290FM-DiTSteps=10Steps=102026.0284DDIM-UNetSteps=40Steps=402026.0282FM-UNetSteps=10Steps=102026.0268DDPM-DiTSteps=100Steps=1002026.0268DDPM-UNetSteps=100Steps=1002026.0266ACTSteps=1Steps=12026.0260Score-UNetSteps=100Steps=1002026.024