ResearchBenchmarksEmbodied Manipulation on VLaBench Track 3Follow18ACE-TTS13.8414.921617.08Jun 25, 2026Evaluation ResultsMethodMethodLinksACIFSBSCTSDSFSNLPSPaSPoSTSUMAverage ScoreE-TTSBase Model=π0.5Base Model=π0.52026.061810365416241626—6921π0.5Mode=Base modelMode=Base model2026.06148385014241416—4419