ResearchBenchmarksRobotic Manipulation on Real-world Piper Clean conditionsRobotic Manipulation on Real-world Piper Clean conditionsFollow100Success Rate (Banana)π09597.5100102.5May 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Banana)Performance (Cloth)Performance (Drawer)Average Success Rateπ0Action chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Clean2026.05100203050π0.5Action chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Clean2026.05100255058.3OneWM-VLAAction chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Clean2026.05100605571.7