ResearchBenchmarksRobot Manipulation on MetaWorld peg insertRobot Manipulation on MetaWorld peg insertFollow43.8Success RateIWR-1.75210.07421.933.726Jun 10, 2026Evaluation resultsMethodMethodLinksSuccess RateIWR2026.0643.8IWR2026.0643.8CRL2026.0643CRL2026.0643CRTR2026.0636.7CRTR2026.0636.7PPO2026.060SAC2026.060SAC+HER2026.060SAC+HINT2026.060PPO2026.060SAC2026.060SAC+HER2026.060SAC+HINT2026.060