ResearchBenchmarksPick and Place on Real-World custom 7-DOF robot armFollow92Success Rate (SR)RetoVLA58.7267.367684.64Sep 25, 2025Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Performance Change (Percentage Points)RetoVLARegister Tokens=2Register Tokens=22025.09926SmolVLA2025.0986—RetoVLARegister Tokens=2Register Tokens=22025.097818SmolVLA2025.0960—