ResearchBenchmarksLong-horizon Robot Manipulation on 2D LEGO Assembly unseen (test)Long-horizon Robot Manipulation on 2D LEGO Assembly unseen (test)Follow95Success Rate (Step 1: 2 bricks)ManualVLA1737.2557.577.75Dec 1, 2025Evaluation resultsMethodMethodLinksSuccess Rate (Step 1: 2 bricks)Success Rate (Step 2: 2 bricks)Success Rate (Step 3: 2 bricks)Success Rate (S.R.)ManualVLA2025.1295908585VLM + pi_0.52025.1275706560CoT-VLA2025.1240353030pi_0.52025.1230252520pi_02025.1225201515FAST2025.1220151010