Action Generation on LIBERO (Latency)
0.031Latency (s)OpenVLA-OFT
Evaluation results
| Method | Links | |
|---|---|---|
| OpenVLA-OFTModel Size=7B, Temporal AR=×, Action Decoder=Parallel2026.06 | 0.031 | |
| Discrete Diffusion VLAModel Size=7B, Temporal AR=×, Action Decoder=Discrete Diffusion2026.06 | 0.069 | |
| TBD-VLAModel Size=2B, Temporal AR=✓, Action Decoder=Block Discrete Diffusion2026.06 | 0.117 | |
| GR00T-N1Model Size=2.2B, Temporal AR=×, Action Decoder=Flow Matching2026.06 | 0.131 | |
| π0.5Model Size=3B, Temporal AR=×, Action Decoder=Flow Matching2026.06 | 0.208 | |
| SmolVLAModel Size=0.5B, Temporal AR=×, Action Decoder=Flow Matching2026.06 | 0.297 | |
| OpenVLAModel Size=7B, Temporal AR=×, Action Decoder=Autoregressive2026.06 | 0.344 | |
| π0-FASTModel Size=3B, Temporal AR=×, Action Decoder=Autoregressive2026.06 | 0.767 | |
| VLA-0Model Size=3B, Temporal AR=▲, Action Decoder=Autoregressive2026.06 | 1.98 | |
| MolmoActModel Size=7B, Temporal AR=×, Action Decoder=Autoregressive2026.06 | 5.633 |