Instruction Generalization on OOD Instructions Novel Prompts
95T3 Success Count [C]DeLock
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| DeLockContrastive Prompt Guidance=Enabled, Visual Encoder Regularization=Enabled2026.04 | 95 | 95 | 85 | 55 | 65 | 70 | 65 | |
| π0.5-DROIDDescription=generalist VLA post-trained on DROID dataset2026.04 | 90 | — | 90 | — | — | 55 | 0 | |
| DeLock w/o CPGContrastive Prompt Guidance=Disabled2026.04 | 90 | 85 | 75 | 0 | 0 | 0 | 0 | |
| DeLock w/ Frozen-VisVisual Encoder=Fixed during training2026.04 | 70 | 80 | 65 | 10 | 55 | 40 | 20 | |
| DeLock w/o Vis-RegVisual Encoder Regularization=Disabled2026.04 | 35 | 45 | 10 | 0 | 0 | 0 | 0 | |
| RETAINDescription=weight-space interpolation baseline2026.04 | 30 | 0 | 15 | 0 | 0 | 10 | 5 |