Confidence Estimation on LIBERO Pre-Execution spatial, object, goal
3.4ECEVLAConf
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| VLAConfBackbone=OpenVLA-OFT, Avg. Inf. Time (ms)=64.92026.05 | 3.4 | 16.14 | 0.4991 | 78.2 | |
| ConfidenceVLABackbone=OpenVLA-OFT, Avg. Inf. Time (ms)=712.92026.05 | 3.63 | 17.02 | 0.5295 | 77.7 | |
| VLAConfBackbone=π^0.5, Avg. Inf. Time (ms)=164.72026.05 | 3.7 | 8.21 | 0.3141 | 91.3 | |
| VLAConf-NoStepBackbone=OpenVLA-OFT, Avg. Inf. Time (ms)=64.52026.05 | 4.1 | 16.91 | 0.5148 | 76.9 | |
| VLAConf-NoStepBackbone=π^0.5, Avg. Inf. Time (ms)=164.42026.05 | 5.79 | 8.98 | 0.3387 | 90.5 | |
| TokenProbBackbone=OpenVLA-OFT, Avg. Inf. Time (ms)=65.12026.05 | 21.23 | 22.2 | 0.6352 | 77.7 | |
| PCA-kmeansBackbone=OpenVLA-OFT, Avg. Inf. Time (ms)=63.72026.05 | 30.31 | 31.03 | 1.0976 | 76.9 | |
| PCA-kmeansBackbone=π^0.5, Avg. Inf. Time (ms)=163.52026.05 | 41.68 | 34.28 | 1.1049 | 91.3 |