ResearchBenchmarksEmbodied Manipulation on VLaBench Track 4Follow16ACE-TTS9.7611.381314.62Jun 25, 2026Evaluation ResultsMethodMethodLinksACIFSBSDSFSMSPaSPoSTAverage ScoreE-TTSBase Model=π0.5Base Model=π0.52026.0616648221414108616π0.5Mode=Base modelMode=Base model2026.0610438201810126815