ResearchBenchmarksRobotic Manipulation Simulation on LIBERO SpatialRobotic Manipulation Simulation on LIBERO SpatialFollow82.8Success Rate (SR)AR w/o SD77.80879.10480.481.696Mar 18, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Speed (×)Average Latency (AL)Required StepsAR w/o SDHW=GPUHW=GPU2026.0382.81—126.9Pure D-SDHW=GPUHW=GPU2026.0382.80.981.65127.3SpecVLAHW=GPUHW=GPU2026.0380.41.263.8128.7pure R-SDHW=CPU+GPUHW=CPU+GPU2026.03781.150.81123.5HeiSDHW=CPU+GPUHW=CPU+GPU2026.03781.94.83127.8