ResearchBenchmarksPickNPlace on Real-world PickNPlacePickNPlace on Real-world PickNPlaceFollow100ScoreVanilla (DDPM)58.469.28090.8Feb 9, 2026Evaluation resultsMethodMethodLinksScoreLatency (ms)Vanilla (DDPM)Step=100Step=1002026.021004,229DDIMStep=8Step=82026.02100190STEPStep=8Step=82026.02100192STEPStep=4Step=42026.0210040DDIMStep=4Step=42026.029539STEPStep=2Step=22026.029520DDIMStep=2Step=22026.026018