ResearchBenchmarksRobotic Manipulation on Scene-Single-CompositeRobotic Manipulation on Scene-Single-CompositeFollow78Button Press Success RateDP1001.0421.024160.98Jun 7, 2026Evaluation resultsMethodMethodLinksButton Press Success RateFull Task Success RateDP100diffusion steps=100diffusion steps=1002026.067814DP40diffusion steps=40diffusion steps=402026.06640HECRL*2026.066018WorldDP2026.066020DinoWM2026.0680LeWM2026.0640