ResearchBenchmarksRobot Tool-Use Hitting on Real-World Robot Tool-Use Unseen Tools (test)Follow60Tobject P01 Success RateFORGE-2.413.83046.2Jul 7, 2026Evaluation ResultsMethodMethodLinksTobject P01 Success RateTobject P02 Success RateTobject Avg Success RateBook P01 Success RateBook P02 Success RateBook Avg Success RateShoe P01 Success RateShoe P02 Success RateShoe Avg Success RateOverall Success RateFORGERollouts per pattern=1...Rollouts per pattern=10, Action chunk size=8, History horizon=8, Batch size=64, Robot platform=Franka2026.07608070601008020604063FMRollouts per pattern=1...Rollouts per pattern=10, Action chunk size=8, History horizon=8, Batch size=64, Robot platform=Franka2026.0706030500250201022