Embodied Task Execution on VLABench Instruction
70.2Progress Score (PS)ERVLA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| ERVLAmode=Zero-shot2026.06 | 70.2 | 58 | 73.8 | |
| Choice + No Knowledge TruncationAblation=Choice without KT, mode=Zero-shot2026.06 | 66.4 | 53.6 | 70.2 | |
| π0.5mode=Zero-shot2026.06 | 64.2 | 48.2 | 67 | |
| X-VLAmode=Zero-shot2026.06 | 63.1 | — | — | |
| No Choice + Knowledge InsulationAblation=No choice and KI, mode=Zero-shot2026.06 | 58.2 | 46 | 63.4 | |
| No CoTAblation=No explicit chain-of-thought, mode=Zero-shot2026.06 | 56.4 | 44.2 | 62.4 | |
| No Choice (End-to-End)Ablation=End-to-End No Choice, mode=Zero-shot2026.06 | 54.6 | 42.4 | 61.2 | |
| π0-FASTmode=Zero-shot2026.06 | 45 | 35 | 59.4 | |
| ACoT-VLAmode=Zero-shot2026.06 | 39.6 | — | 56.8 | |
| π0mode=Zero-shot2026.06 | 38.7 | 17.3 | 58 |