ResearchBenchmarksLong-horizon Robot Manipulation on 3D LEGO Assembly unseen (test)Long-horizon Robot Manipulation on 3D LEGO Assembly unseen (test)Follow90Success Rate (Step 1, 2 Bricks)ManualVLA1232.2552.572.75Dec 1, 2025Evaluation resultsMethodMethodLinksSuccess Rate (Step 1, 2 Bricks)Success Rate (Step 2, 2 Bricks)Success Rate (Step 3, 2 Bricks)Success Rate (Overall)ManualVLA2025.1290756565VLM + pi_0.52025.1265453535CoT-VLA2025.1235302525pi_0.52025.1230201515pi_02025.1225151010FAST2025.12151555