ResearchBenchmarksRobotic Manipulation on ManiSkill2 StackCube (hybrid composition)Robotic Manipulation on ManiSkill2 StackCube (hybrid composition)Follow0.4Violationg^car0.3280.8141.31.786May 20, 2026Evaluation resultsMethodMethodLinksViolationSuccess Rateg^car2026.050.461g^{car}Steps=8Steps=82026.050.461GLASS-FKS2026.051.124GLASS-FKSSteps=24Steps=242026.051.124g^cov-G2026.051.89g^{cov-G}2026.051.89PCGrad2026.052.20PCGrad2026.052.20