ResearchBenchmarksRobotic Manipulation (Aligning) on D3ILRobotic Manipulation (Aligning) on D3ILFollow80.21Success RateMIMIC-S65.899669.614873.3377.0452Feb 24, 2026Evaluation resultsMethodMethodLinksSuccess RateDistanceEntropyState-WassTime-WassMIMIC-SSelection Criterion=Hi...Selection Criterion=Highest success rate2026.0280.210.06640.41840.045950.569MIMIC-ESelection Criterion=Hi...Selection Criterion=Highest entropy2026.0272.290.08470.61480.049245.397BCArchitecture=DDPM-TArchitecture=DDPM-T2026.0266.450.11050.47430.696159.034