ResearchBenchmarksLong-horizon robotic manipulation on CALVIN D->DLong-horizon robotic manipulation on CALVIN D->DFollow96.4Success Rate (1 Task)XR-170.60877.3048490.696Nov 4, 2025Evaluation resultsMethodMethodLinksSuccess Rate (1 Task)Success Rate (2 Tasks)Success Rate (3 Tasks)Success Rate (4 Tasks)Success Rate (5 Tasks)Success RateXR-12025.1196.490.884.579.874.14.256Qwen-GR00T2025.1192.583.974.467.959.93.786π0.52025.1192.58476.67164.43.885Qwen-π02025.1190.979.569.662.255.43.576π02025.1184.870.455.946.637.72.954RDT-1B2025.1175.749.535.924.318.42.038OpenVLA2025.1171.638.5188.84.11.411