Long-Horizon on AIR-VLA
65.1Base Positioning Accuracyπ0
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| π02026.06 | 65.1 | 38.5 | 85.9 | 2 | 32.3 | |
| Single Headbase=π0.52026.06 | 62.4 | 40.8 | 84.8 | 7 | 37.1 | |
| Feature-MoEbase=π0.52026.06 | 59.1 | 60 | 96.1 | 17.5 | 44.1 | |
| Action-Level Soft MoEbase=π0.52026.06 | 52.1 | 42.4 | 29.5 | 9.5 | 30.4 | |
| π0-FAST2026.06 | 41 | 32.6 | 99.4 | 0 | 28.3 | |
| Action-Level Hard MoEbase=π0.52026.06 | 1.2 | 17.4 | 99.5 | 0.3 | 14.7 | |
| ACT2026.06 | 0 | 10 | 100 | 0 | 12.5 | |
| Diffusion Policy2026.06 | 0 | 10 | 100 | 0 | 12.5 |