ResearchBenchmarksRobotic Lifting on Real-world Franka Research 3 Lift task 1.0 (50 rollouts)Follow92Success RateDDIM+SA4053.56780.5Jul 6, 2026Evaluation ResultsMethodMethodLinksSuccess RateAverage TaDDIM+SASpatial Attention=true...Spatial Attention=true, Execution Horizon=adaptive2026.07928.3DDIMSpatial Attention=fals...Spatial Attention=false, Execution Horizon=fixed2026.07428