ResearchBenchmarksToy in Drawer on Real-worldFollow85Success RatePAINT12.231.15068.9Jun 18, 2026Evaluation ResultsMethodMethodLinksSuccess RateAverage Trajectory Rate (ATR)Collision Rate (CON)PAINTBase Policy=GR00T-N1.5Base Policy=GR00T-N1.52026.068517.082.3RTCBase Policy=GR00T-N1.5Base Policy=GR00T-N1.52026.067517.852.5RTCBase Policy=π0Base Policy=π02026.066536.353.2PAINTBase Policy=π0Base Policy=π02026.066530.392.8TEBase Policy=GR00T-N1.5Base Policy=GR00T-N1.52026.066023.19—TEBase Policy=π0Base Policy=π02026.061553.27—