ResearchBenchmarksRobot Manipulation on MetaWorld and ManiSkill MediumFollow86.3Success RateFODMP16.20434.40252.670.798Mar 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateInference Time (ms)FODMPAction representation=...Action representation=velocity control2026.0386.318.6MPDAction representation=...Action representation=velocity control2026.0364.8173.2DPAction representation=...Action representation=position control2026.0341121.3ManiCMAction representation=...Action representation=position control2026.0318.915.6