ResearchBenchmarksRobotic Manipulation on Task VIIFollow0.7Success RateZS-IP-0.0280.1610.350.539Feb 20, 2026Evaluation ResultsMethodMethodLinksSuccess RateTrajectory LengthTrajectory Length StatusPath ErrorOverall Score RateZS-IPfeature=In-Contextfeature=In-Context2026.020.73.483.520.548ZS-IPfeature=Standardfeature=Standard2026.020.23.413.080.477MOKA2026.0203.88—0.47ZS-IPfeature=Pushfeature=Push2026.0203.25—0.487ZS-IPfeature=Graspfeature=Grasp2026.0203.04—0.395