ResearchBenchmarksStack Cube on Real-world Franka Emika Panda robotFollow40Success RateBC34.836.1537.538.85Jun 24, 2026Evaluation ResultsMethodMethodLinksSuccess RateExecution StepsBCOnline Fine-tuning=falseOnline Fine-tuning=false2026.0640155.2FORCEOnline Fine-tuning=trueOnline Fine-tuning=true2026.0635170.4