ResearchBenchmarksRobot Manipulation on MetaWorld (Avg Success Rate and Horizon Length)Robot Manipulation on MetaWorld (Avg Success Rate and Horizon Length)Follow79.4Average Success RateMoH77.73678.16878.679.032May 12, 2026Evaluation resultsMethodMethodLinksAverage Success RateAverage Horizon LengthMoHBackbone=π-0Backbone=π-02026.0579.43A3Backbone=π-0.5Backbone=π-0.52026.0579.44.5A3Backbone=π-0Backbone=π-02026.0579.23.2MoHBackbone=π-0.5Backbone=π-0.52026.0578.43.3OriginalBackbone=π-0Backbone=π-02026.05783OriginalBackbone=π-0.5Backbone=π-0.52026.0577.83