ResearchBenchmarksPreference-conditioned planning on UR5Follow0Delta CVIP*-0.0760.4370.951.463May 8, 2026Evaluation ResultsMethodMethodLinksDelta CCorrelation Coefficient (Rho)Normalized Result Score (Rnorm)VIP*Number of waypoints=6,...Number of waypoints=6, State augmentation=true2026.0500.72225.9MoMoNumber of waypoints=6Number of waypoints=62026.050.9210.29IvI*Number of waypoints=6,...Number of waypoints=6, State augmentation=true2026.051.360.574.63PCA*Number of waypoints=6,...Number of waypoints=6, State augmentation=true2026.051.90.970.67