Failure Detection on LIBERO 10 Unseen Tasks
89.2bACCHide-and-Seek
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| Hide-and-SeekPolicy=π0, Category=Class.2026.05 | 89.2 | 92.1 | 70.5 | |
| Hide-and-SeekPolicy=OpenVLA, Category=Class.2026.05 | 83.4 | 82.8 | 66.3 | |
| SAFE-MLPPolicy=π0, Category=Class., Venue=NeurIPS'252026.05 | 80.1 | 86.7 | 64.8 | |
| SAFE-MLPPolicy=OpenVLA, Category=Class., Venue=NeurIPS'252026.05 | 77.5 | 74.1 | 59 | |
| Cluster EntropyPolicy=π0, Category=Multi., Venue=ICLR'232026.05 | 73.2 | 60.4 | 55.2 | |
| SAFE-LSTMPolicy=OpenVLA, Category=Class., Venue=NeurIPS'252026.05 | 68.6 | 66.6 | 55.3 | |
| LogpZOPolicy=π0, Category=OOD Det., Venue=RSS'252026.05 | 68.1 | 67.9 | 57.4 | |
| EigenScorePolicy=OpenVLA, Category=Multi., Venue=ICLR'242026.05 | 67.1 | 67.2 | 52.4 | |
| Cosine k-NNPolicy=OpenVLA, Category=OOD Det., Venue=ICML'222026.05 | 63.9 | 59 | 52.2 | |
| MahalanobisPolicy=π0, Category=OOD Det., Venue=ICML'182026.05 | 63.4 | 51 | 54.3 | |
| STACPolicy=OpenVLA, Category=Multi., Venue=CoRL'242026.05 | 62.4 | 64.2 | 52.8 | |
| Cosine k-NNPolicy=π0, Category=OOD Det., Venue=ICML'222026.05 | 62.3 | 69.6 | 54.2 | |
| EigenScorePolicy=π0, Category=Multi., Venue=ICLR'242026.05 | 61.3 | 66.8 | 49.5 | |
| ACEPolicy=π0, Category=Multi., Venue=NeurIPS'252026.05 | 60.9 | 63 | 50.5 | |
| SAFE-LSTMPolicy=π0, Category=Class., Venue=NeurIPS'252026.05 | 60.9 | 52.8 | 52.4 | |
| ACEPolicy=OpenVLA, Category=Multi., Venue=NeurIPS'252026.05 | 60.4 | 60.2 | 54.2 | |
| Cluster EntropyPolicy=OpenVLA, Category=Multi., Venue=ICLR'232026.05 | 57 | 57.8 | 54.8 | |
| LogpZOPolicy=OpenVLA, Category=OOD Det., Venue=RSS'252026.05 | 54.5 | 50.2 | 50.5 | |
| Max NLLPolicy=OpenVLA, Category=Token Unc., Venue=ICLR'232026.05 | 52.5 | 52.8 | 48.8 | |
| Max EntropyPolicy=OpenVLA, Category=Token Unc., Venue=ICLR'212026.05 | 52.1 | 51.8 | 48.8 | |
| RNDPolicy=π0, Category=OOD Det., Venue=ICML'242026.05 | 52 | 64.3 | 50.5 | |
| MahalanobisPolicy=OpenVLA, Category=OOD Det., Venue=ICML'182026.05 | 51.3 | 49.5 | 50.4 | |
| RNDPolicy=OpenVLA, Category=OOD Det., Venue=ICML'242026.05 | 50.9 | 50.4 | 47.8 | |
| Avg. NLLPolicy=OpenVLA, Category=Token Unc., Venue=ICLR'232026.05 | 49.5 | 48.7 | 47 | |
| Avg. EntropyPolicy=OpenVLA, Category=Token Unc., Venue=ICLR'212026.05 | 49.1 | 49 | 45.6 | |
| STACPolicy=π0, Category=Multi., Venue=CoRL'242026.05 | 49 | 59.6 | 44 | |
| PCA KMeansPolicy=OpenVLA, Category=OOD Det., Venue=CoRL'242026.05 | 48.6 | 49.4 | 44.2 | |
| PCA KMeansPolicy=π0, Category=OOD Det., Venue=CoRL'242026.05 | 46.1 | 47.1 | 39.4 |