ResearchBenchmarksRobotic Manipulation on MimicGen D2 distributionRobotic Manipulation on MimicGen D2 distributionFollow68Square Success RateSkillGen48.55253.60158.6563.699Jun 23, 2026Evaluation resultsMethodMethodLinksSquare Success RateStack Success RateStack Three Success RateThreading Success RateCoffee Success Rate3 Pc. Assembly Success RateHammer Cleanup Success RateMug Cleanup Success RateKitchen Success RateNut Assembly Success RatePick Place Success RateCoffee Preparation Success RateSkillGen2026.0668——349242——————MinInter2026.0653.3——5478.714.7——————Baseline2026.0649.3——3877.313.3——————