ResearchBenchmarksPour Manipulation on Robot manipulation Real-worldFollow9.72Task ScoreLegato9.32489.42749.539.6326Feb 13, 2026Evaluation ResultsMethodMethodLinksTask ScoreCompletion Time (s)NLDLJNSPARCOverlap RMSELegato2026.029.7275.7339.51.655,140RTC2026.029.3495.0739.822.857,640