ResearchBenchmarksRobot manipulation on Insert-T HardRobot manipulation on Insert-T HardFollow35Success RateSDP-1.48.0517.526.95Jun 1, 2026Evaluation resultsMethodMethodLinksSuccess RateSDPTraining Setup=Demonst...Training Setup=Demonstration + Correction2026.0635DPTraining Setup=Demonst...Training Setup=Demonstration + Correction2026.0623SDPTraining Setup=Pretrai...Training Setup=Pretraining with Demonstration2026.060DPTraining Setup=Pretrai...Training Setup=Pretraining with Demonstration2026.060