ResearchBenchmarksPour (Level 1) on RLBench Pour A in B Instance-level substitutionFollow80Success RateFuncanon23.11237.88152.6567.419Sep 23, 2025Evaluation ResultsMethodMethodLinksSuccess RateFuncanonSubstitution Type=Inst...Substitution Type=Instance2025.0980SPOTSubstitution Type=Inst...Substitution Type=Instance2025.09643DASubstitution Type=Inst...Substitution Type=Instance2025.0925.3