ResearchBenchmarksSoccer Push on Real-world 1.0 (test)Follow60Success RateSCORE (DSRL)-2.413.83046.2Jun 25, 2026Evaluation ResultsMethodMethodLinksSuccess RateSCORE (DSRL)variant=DSRLvariant=DSRL2026.0660SCORE2026.0660Res-RL2026.0640FPO2026.0620Base2026.0613.3RialTo2026.060