Long-horizon language-conditioned manipulation on Calvin ABC→D
4.43Average Sequence LengthX-VLA
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| X-VLASuite=CALVIN ABC→D2026.06 | 4.43 | — | — | — | — | — | |
| VLA-AdapterSuite=CALVIN ABC→D2026.06 | 4.42 | — | — | — | — | — | |
| UniJEPAVisual prediction=true, Input resolution=224x224, Input view=single third-view2025.10 | 4.11 | 97.3 | 89.5 | 82.3 | 75.2 | 67 | |
| UP-VLA*Visual prediction=true, Input resolution=224x224, Input view=single third-view, Reproduction status=reproduced2025.10 | 4.08 | 92.8 | 86.5 | 81.5 | 76.9 | 69.9 | |
| S2Suite=CALVIN ABC→D, interface=Specify More language interface2026.06 | 3.95 | — | — | — | — | — | |
| π0.5Suite=CALVIN ABC→D2026.06 | 3.92 | — | — | — | — | — | |
| UniVLASuite=CALVIN ABC→D2026.06 | 3.8 | — | — | — | — | — | |
| Lie Diffuser ActorTraining Iterations=300K2026.06 | 3.584 | 90.6 | 80.4 | 71.1 | 62.6 | 53.7 | |
| VPP*Visual prediction=true, Input resolution=224x224, Input view=single third-view, Reproduction status=reproduced2025.10 | 3.58 | 90.9 | 81.5 | 71.3 | 62 | 51.8 | |
| Lie Diffuser ActorTraining Iterations=300K2026.06 | 3.512 | 93.7 | 83.4 | 70.3 | 57.6 | 46.2 | |
| Lie Diffuser ActorTraining Iterations=300K, Lie Space Diffusion=excluded2026.06 | 3.474 | 90.2 | 80.3 | 69.6 | 58.5 | 48.8 | |
| Lie Diffuser ActorTraining Iterations=300K, GAT Encoder=excluded2026.06 | 3.404 | 90.8 | 77.3 | 66.4 | 57.6 | 48.3 | |
| Lie Diffuser ActorTraining Iterations=600K, GAT Encoder=excluded2026.06 | 3.368 | 89.6 | 78 | 66.6 | 55.7 | 46.9 | |
| 3D Diffuser ActorTraining Iterations=800K2026.06 | 3.288 | 90.3 | 77.3 | 65.8 | 53.8 | 41.6 | |
| 3D Diffuser ActorTraining Iterations=600K2026.06 | 3.27 | 92.2 | 78.7 | 63.9 | 51.2 | 41.2 | |
| OpenVLA-OFTSuite=CALVIN ABC→D2026.06 | 3.27 | — | — | — | — | — | |
| Lie Diffuser ActorTraining Iterations=400K, Lie Space Diffusion=excluded2026.06 | 3.239 | 91 | 76.1 | 63.4 | 51.6 | 41.8 | |
| GR-1Visual prediction=true, Input resolution=224x224, Input view=single third-view2025.10 | 3.06 | 85.4 | 71.2 | 59.6 | 49.7 | 40.1 |