ResearchBenchmarksRobotic Manipulation Simulation on LIBERO-LongRobotic Manipulation Simulation on LIBERO-LongFollow54.4Success RateAR w/o SD45.87248.08650.352.514Mar 18, 2026Evaluation resultsMethodMethodLinksSuccess RateSpeed FactorAverage LengthStep CountAR w/o SDHW=GPUHW=GPU2026.0354.41—393.2Pure D-SDHW=GPUHW=GPU2026.0350.20.911.59400.7Pure R-SDHW=CPU+GPUHW=CPU+GPU2026.03500.990.81399.3HeiSDHW=CPU+GPUHW=CPU+GPU2026.03471.794.96428SpecVLAHW=GPUHW=GPU2026.0346.21.133.63439.6