ResearchBenchmarksRobot Manipulation on MetaWorld and ManiSkill AverageFollow78.2Success RateFODMP32.64844.47456.368.126Mar 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateInference Time (ms)FODMPAction representation=...Action representation=velocity control2026.0378.217.2MPDAction representation=...Action representation=velocity control2026.0364.1168.6DPAction representation=...Action representation=position control2026.0350.1119.7ManiCMAction representation=...Action representation=position control2026.0334.416.2