ResearchBenchmarksPoking (L/R) on Real-world Manipulation Category-LevelPoking (L/R) on Real-world Manipulation Category-LevelFollow0.85Success Rate (Cups)BiNoMaP0.2780.42650.5750.7235Sep 25, 2025Evaluation resultsMethodMethodLinksSuccess Rate (Cups)Success Rate (Mugs)BiNoMaPGeneralization=Categor...Generalization=Category-Level2025.090.850.7167DyWAGeneralization=Categor...Generalization=Category-Level2025.090.50.3333DP3Generalization=Categor...Generalization=Category-Level2025.090.43330.2833CORNGeneralization=Categor...Generalization=Category-Level2025.090.350.2333DPGeneralization=Categor...Generalization=Category-Level2025.090.30.1833