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Results and Reproducability

We refactored the code, which led to slight changes in the results in comparison to those in the ICRA 2025 paper.

$\text{OOD}$ $\overline{\text{ID+OOD}}$
Method Source CL-NR CL-R CL-NR CL-R
Finetuning ICRA Paper 0.667 0.695 0.611 0.669
Repo 0.677 0.681 0.678 0.616
LoRD + CR ICRA Paper 0.759 0.764 0.728 0.695
Repo 0.750 0.753 0.722 0.689

The environment was tested on a machine with Ubuntu 18.04 with NVIDIA RTX 3090 and Ubuntu 22.04 with NVIDIA RTX 2080 Super.