ResearchBenchmarksLong-horizon Robot Manipulation on CALVIN ABC→D long-horizonFollow97Success Rate 1VAMPO65.873.98290.1Mar 19, 2026Evaluation ResultsMethodMethodLinksSuccess Rate 1Success Rate 2Success Rate 3Success Rate 4Success Rate 5Success Rate 6Success Rate 7Success Rate 8Success Rate 9Success Rate 10Average Trajectory LengthVAMPOTrain→Test protocol=ABC→DTrain→Test protocol=ABC→D2026.03978981757164615145396.73VPPTrain→Test protocol=ABC→DTrain→Test protocol=ABC→D2026.03948275635349433531285.53π0Train→Test protocol=ABC→DTrain→Test protocol=ABC→D2026.03846451433425211711113.61OpenVLATrain→Test protocol=ABC→DTrain→Test protocol=ABC→D2026.03673424123111001.43