ResearchBenchmarksSlot Extrinsic Dexterity on IsaacSimFollow9Success RateAdaptPNP-0.362.074.56.93Nov 14, 2025Evaluation ResultsMethodMethodLinksSuccess RateAdaptPNP2025.119MoKARepresentation=2D keyp...Representation=2D keypoints2025.111MPCOptimization=MPPIOptimization=MPPI2025.110RLAlgorithm=PPO, Reward=...Algorithm=PPO, Reward=6D target pose error2025.110MolmoActRepresentation=2D traj...Representation=2D trajectory2025.110OpenVLASetting=zero-shot, Par...Setting=zero-shot, Parameters=7B2025.110