Object & Spatial on AIR-VLA
70.9Base Positioning AccuracySingle Head
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Single Headbase=π0.52026.06 | 70.9 | 44.1 | 81.2 | 13.5 | 42.3 | |
| Feature-MoEbase=π0.52026.06 | 68.3 | 49.4 | 87.2 | 15.6 | 44.4 | |
| Action-Level Soft MoEbase=π0.52026.06 | 64.1 | 38.9 | 47.2 | 6.5 | 33.1 | |
| π02026.06 | 58.1 | 38.2 | 75.4 | 2 | 32.4 | |
| π0-FAST2026.06 | 5.1 | 18.9 | 98.3 | 0 | 15.8 | |
| Action-Level Hard MoEbase=π0.52026.06 | 0.4 | 19.8 | 100 | 0 | 15.1 | |
| ACT2026.06 | 0 | 16 | 100 | 0 | 14 | |
| Diffusion Policy2026.06 | 0 | 16 | 100 | 0 | 14 |