ResearchBenchmarksLumen Traversal on BiliVLA-Motion (test)Lumen Traversal on BiliVLA-Motion (test)Follow97.51mIoUImitation Learning72.560479.037785.51591.9923Jun 22, 2026Evaluation resultsMethodMethodLinksmIoUPR (%)SR (%)Imitation Learning2026.0697.5176.9254.55BiliVLAGRPO=true, Scene Aware...GRPO=true, Scene Aware=true2026.0696.391.46100BiliVLAGRPO=false, Scene Awar...GRPO=false, Scene Aware=true2026.0694.887.572.73BiliVLAGRPO=true, Scene Aware...GRPO=true, Scene Aware=false2026.0694.7789.6281.82EndoVLA2026.0681.2484.6271.29Qwen3-VL2026.0673.5281.9264.83