ResearchBenchmarksRobotic Manipulation on MimicGen D0 distributionFollow100Success Rate: SquareSkillGen90.32892.83995.3597.861Jun 23, 2026Evaluation ResultsMethodMethodLinksSuccess Rate: SquareSuccess Rate: StackSuccess Rate: Stack ThreeSuccess Rate: ThreadingSuccess Rate: CoffeeSuccess Rate: Three Pc. AssemblySuccess Rate: Hammer CleanupSuccess Rate: Mug CleanupSuccess Rate: KitchenSuccess Rate: Nut AssemblySuccess Rate: Pick PlaceSuccess Rate: Coffee PreparationSkillGen2026.06100——949880——————MinInter2026.0698.710092.710010095.310091.3100745095.3Baseline2026.0690.710092.798100821008010053.350.797.3