Needle insertion on Needle insertion Mean
80Success RateVision-Language-Action (VLA) model
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Vision-Language-Action (VLA) modelScenario=Mean2026.04 | 80 | 17.3 | |
| Baseline: defaultVariant=Default proposed model2026.04 | 80 | 17.3 | |
| V_I,1L_r=162026.04 | 75 | 16.1 | |
| V_I,2L_r=0, TraCon Register=without2026.04 | 72.5 | 24.5 | |
| V_I,4Control=w/o uncertainty control2026.04 | 70 | 8.7 | |
| V_I,3Pipeline=synchronous (w/o async)2026.04 | 67.5 | 15 | |
| ManualScenario=Mean2026.04 | 60 | 23.2 |