ResearchBenchmarksRobotic Manipulation on ManiSkill2 StackCube (static obstacles)Follow0.1Violationsg^car0.0440.4220.81.178May 20, 2026Evaluation ResultsMethodMethodLinksViolationsTimeSuccess Rateg^car2026.050.1203.272g^{car}Time=203.2 ± 8.2, Steps=8Time=203.2 ± 8.2, Steps=82026.050.1—72GLASS-FKS2026.050.6493.732GLASS-FKSTime=493.7 ± 29.2, Ste...Time=493.7 ± 29.2, Steps=242026.050.6—32g^cov-G2026.051.218512g^{cov-G}Time=185.0 ± 9.3Time=185.0 ± 9.32026.051.2—12PCGrad2026.051.5201.40PCGradTime=201.4 ± 12.5Time=201.4 ± 12.52026.051.5—0