ResearchBenchmarksRobot Manipulation on RoboTwin (OOD)Robot Manipulation on RoboTwin (OOD)Follow63Adjust Bottle Success Rateπ0+BFA++39.0845.2951.557.71Feb 24, 2026Evaluation resultsMethodMethodLinksAdjust Bottle Success RateBeat Hammer Success RateHandover Block Success RateOpen Laptop Success RateMean Success Rateπ0+BFA++FPS=10.5 HzFPS=10.5 Hz2026.026325195540.5π0+BFAFPS=11.3 HzFPS=11.3 Hz2026.025924184636.8π0FPS=6.4 HzFPS=6.4 Hz2026.02562184632.8π0+DARTFPS=10.0 HzFPS=10.0 Hz2026.0240853020.8