ResearchBenchmarksRobotic Manipulation (Stacking) on D3ILRobotic Manipulation (Stacking) on D3ILFollow82.13Success Rate (1 Box)MIMIC-E80.195680.697881.281.7022Feb 24, 2026Evaluation resultsMethodMethodLinksSuccess Rate (1 Box)Success Rate (2 Box)Entropy (1 Box)Entropy (2 Box)Entropy (3 Box)State Wasserstein DistanceTime Wasserstein DistanceMIMIC-ESelection Criterion=Hi...Selection Criterion=Highest entropy2026.0282.1353.330.21150.15560.087813.69336.51MIMIC-SSelection Criterion=Hi...Selection Criterion=Highest success rate2026.0281.2960.740.17740.07370.03940.75345.14BCArchitecture=DDPM-TArchitecture=DDPM-T2026.0280.2748.790.20580.15030.10499.43336.51