ResearchBenchmarksRobotic Manipulation (Aligning) on D3IL VisionRobotic Manipulation (Aligning) on D3IL VisionFollow22.29Success RateMIMIC-S18.171619.240820.3121.3792Feb 24, 2026Evaluation resultsMethodMethodLinksSuccess RateDistanceEntropyMIMIC-SSelection Criterion=Hi...Selection Criterion=Highest success rate2026.0222.290.18850.0849MIMIC-ESelection Criterion=Hi...Selection Criterion=Highest entropy2026.0220.830.18490.1473BCArchitecture=DDPM-TArchitecture=DDPM-T2026.0218.330.18750.0895