ResearchBenchmarksPour Liquid on Franka Real-world In-domainFollow88Success RateDreamZero73.4477.228184.78Jun 11, 2026Evaluation ResultsMethodMethodLinksSuccess RateDreamZeroClutter=NoClutter=No2026.0688LabVLAClutter=NoClutter=No2026.0686π0.5Clutter=NoClutter=No2026.0682DreamZeroClutter=YesClutter=Yes2026.0680LabVLAClutter=YesClutter=Yes2026.0678π0.5Clutter=YesClutter=Yes2026.0674