ResearchBenchmarksRobot Manipulation on MetaWorld and ManiSkill HardRobot Manipulation on MetaWorld and ManiSkill HardFollow49Success RateFODMP3.44815.27427.138.926Mar 25, 2026Evaluation resultsMethodMethodLinksSuccess RateInference Time (ms)FODMPAction representation=...Action representation=velocity control2026.034917.9MPDAction representation=...Action representation=velocity control2026.0328.6169.9DPAction representation=...Action representation=position control2026.0310.1118.2ManiCMAction representation=...Action representation=position control2026.035.216.9