ResearchBenchmarksRobotic Manipulation on FrankaKitchen N=4Robotic Manipulation on FrankaKitchen N=4Follow2Accomplished TasksFMER-0.01760.50621.031.5538Mar 18, 2026Evaluation resultsMethodMethodLinksAccomplished TasksSuccess RateFMERN=4N=42026.03250SACN=4N=42026.031.2431DPMDN=4N=42026.031.2230.5DIPON=4N=42026.030.9423.5TD3N=4N=42026.030.7218FPON=4N=42026.030.328QVPON=4N=42026.030.082PPON=4N=42026.030.061.5