ResearchBenchmarksRobot Manipulation on MetaWorld v2 (Evaluation Rollouts)Follow82Success Rate (Shelf)CFP13.3631.184966.82Jun 30, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (Shelf)Success Rate (Bin)Success Rate (Box)Success Rate (Peg)Success Rate (Hand)Success Rate (Soccer)Success Rate (Sweep)Average Success RateCFPArchitecture=DiTArchitecture=DiT2026.068270756960577570MBA2026.067354567510273447CFPArchitecture=UnetArchitecture=Unet2026.066394718967596072DP32026.0617344269141815303D-FDP2026.061635567017192534