ResearchBenchmarksRobotic Manipulation on FrankaKitchen N=2Robotic Manipulation on FrankaKitchen N=2Follow1.4Accomplished TasksSAC0.02720.38360.741.0964Mar 18, 2026Evaluation resultsMethodMethodLinksAccomplished TasksSuccess RateSACN=2N=22026.031.470FMERN=2N=22026.031.2663DPMDN=2N=22026.031.1256DIPON=2N=22026.030.7236TD3N=2N=22026.030.6231FPON=2N=22026.030.525PPON=2N=22026.030.189QVPON=2N=22026.030.084