ResearchBenchmarksClean Marker on Mirror on Real-World custom 7-DOF robot armFollow0.52Success RateRetoVLA0.37440.41220.450.4878Sep 25, 2025Evaluation ResultsMethodMethodLinksSuccess RatePerformance Change (Percentage Points)RetoVLARegister Tokens=2Register Tokens=22025.090.5214SmolVLA2025.090.38—