ResearchBenchmarksRobot Manipulation on Scene Single-DirectRobot Manipulation on Scene Single-DirectFollow87.5Button Success RateDP409.529.755070.25Jun 7, 2026Evaluation resultsMethodMethodLinksButton Success RateDrawer Success RateWindow Success RateAverage Success RateDP40Policy Horizon=40Policy Horizon=402026.0687.535.2911.7644WorldDPPolicy Horizon=40Policy Horizon=402026.0681.2576.4764.7174DP100Policy Horizon=100Policy Horizon=1002026.065023.535.8826HECRL*2026.0631.2552.945.8830DinoWM2026.062523.535.8818LeWM2026.0612.511.7623.5316