ResearchBenchmarksPick-and-place on Real-world 'Put A on B' pick-and-place (In-Distribution)Pick-and-place on Real-world 'Put A on B' pick-and-place (In-Distribution)Follow87.5SR (Carrot/Towel)SCALE44.13255.39166.6577.909Feb 4, 2026Evaluation resultsMethodMethodLinksSR (Carrot/Towel)SR (Eggplant/Bowl)SR (Lemon/Plate)Average SRSCALEBackbone=π0-FASTBackbone=π0-FAST2026.0287.587.583.386.1SCALEBackbone=OpenVLABackbone=OpenVLA2026.027562.529.255.6π0-FASTBackbone=π0-FAST, Deco...Backbone=π0-FAST, Decoding=Greedy2026.0266.7757572.2OpenVLABackbone=OpenVLA, Deco...Backbone=OpenVLA, Decoding=Greedy2026.0245.845.816.736.1