ResearchBenchmarksSemantic Formula Assembly on Logically complex tabletop tasksSemantic Formula Assembly on Logically complex tabletop tasksFollow17.8Avg. FGS (Max 20)ACE2.4086.40410.414.396Jul 5, 2026Evaluation resultsMethodMethodLinksAvg. FGS (Max 20)Success Rate (SR)Goal Achievement (GA)ACE2026.0717.85090ACTmode=Imitationmode=Imitation2026.073.20—π0.5mode=End-to-End VLAmode=End-to-End VLA2026.0730—