ResearchBenchmarksRobotic Manipulation Simulation on LIBERO GoalRobotic Manipulation Simulation on LIBERO GoalFollow77Success RateAR w/o SD70.7672.387475.62Mar 18, 2026Evaluation resultsMethodMethodLinksSuccess RateSpeed FactorAverage LengthStep CountAR w/o SDHW=GPUHW=GPU2026.03771—157.6Pure R-SDHW=CPU+GPUHW=CPU+GPU2026.03770.961.03152.6Pure D-SDHW=GPUHW=GPU2026.0376.20.871.68159.2HeiSDHW=CPU+GPUHW=CPU+GPU2026.03732.384.75156.3SpecVLAHW=GPUHW=GPU2026.03711.233.63166.8