Multi-stage Real-world Robot Manipulation on G1-Real 50
92Pick Success Rate (Pick-n-Place)GR00T-N1.6-LARA
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GR00T-N1.6-LARAComparison Category=Unconstrained, Backbone=GR00T-N1.6, Enhancement=LARA2026.06 | 92 | 91.3 | 84 | 86 | 76 | 94.4 | 68 | 76 | |
| LARA (full)Comparison Category=OXE-Constrained, Model Variant=Full2026.06 | 90 | 88.9 | 80 | 80 | 84 | 100 | 68 | 74 | |
| GR00T-N1.6Comparison Category=Unconstrained, Backbone=GR00T-N1.62026.06 | 90 | 84.4 | 76 | 78 | 80 | 87.2 | 68 | 72 | |
| LARA (DiT-only)Comparison Category=OXE-Constrained, Model Variant=DiT-only2026.06 | 74 | 78.4 | 58 | 58 | 78 | 93.1 | 54 | 56 |