ResearchBenchmarksRobotic Manipulation on ManiSkill Franka Simulation 2Robotic Manipulation on ManiSkill Franka Simulation 2Follow75Lift Peg Success RateCAIP14.336830.085945.83561.5841Jun 15, 2026Evaluation resultsMethodMethodLinksLift Peg Success RateStack Cubes Success RatePush Cube Success RateAverage Success RateCAIPEncoder=CAIPEncoder=CAIP2026.067558.3310077.78DINOv2Encoder=DINOv2Encoder=DINOv22026.0658.335010069.44SigLIP 2Encoder=SigLIP 2Encoder=SigLIP 22026.0658.3358.3310072.22MVPEncoder=MVPEncoder=MVP2026.0633.33010044.44R3MEncoder=R3MEncoder=R3M2026.062516.6791.6744.44VC-1Encoder=VC-1Encoder=VC-12026.0616.67091.6736.11