ResearchBenchmarksStopper Plug/Unplug on Franka Real-world In-domainFollow84Success RateDreamZero71.5274.767881.24Jun 11, 2026Evaluation ResultsMethodMethodLinksSuccess RateDreamZeroClutter=NoClutter=No2026.0684LabVLAClutter=NoClutter=No2026.0680π0.5Clutter=NoClutter=No2026.0678LabVLAClutter=YesClutter=Yes2026.0676DreamZeroClutter=YesClutter=Yes2026.0676π0.5Clutter=YesClutter=Yes2026.0672