Embodied Task Execution on VLABench In-dist.
81.1Progress Score (PS)ERVLA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| ERVLAmode=Zero-shot2026.06 | 81.1 | 69.7 | 84.2 | |
| π0.5mode=Zero-shot2026.06 | 77.8 | 65.4 | 80.4 | |
| Choice + No Knowledge TruncationAblation=Choice without KT, mode=Zero-shot2026.06 | 73 | 62 | 76.2 | |
| X-VLAmode=Zero-shot2026.06 | 67.8 | — | — | |
| π0-FASTmode=Zero-shot2026.06 | 66.8 | 56.2 | 72.4 | |
| ACoT-VLAmode=Zero-shot2026.06 | 66.1 | — | 79.8 | |
| π0mode=Zero-shot2026.06 | 62.7 | 47 | 67.8 | |
| No Choice + Knowledge InsulationAblation=No choice and KI, mode=Zero-shot2026.06 | 61.4 | 55 | 67.2 | |
| No CoTAblation=No explicit chain-of-thought, mode=Zero-shot2026.06 | 59.6 | 52.6 | 66 | |
| No Choice (End-to-End)Ablation=End-to-End No Choice, mode=Zero-shot2026.06 | 57.8 | 50.2 | 65 |