ResearchBenchmarksWall Extrinsic Dexterity on IsaacSimWall Extrinsic Dexterity on IsaacSimFollow80Success RateAdaptPNP-3.218.44061.6Nov 14, 2025Evaluation resultsMethodMethodLinksSuccess RateAdaptPNP2025.1180MoKARepresentation=2D keyp...Representation=2D keypoints2025.1130MPCOptimization=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