ResearchBenchmarksPlacing cube on Real-worldFollow86.7Success Rate (SR)π0.5-3.2620.09543.4566.805Jun 2, 2026Jun 4, 2026Jun 6, 2026Jun 9, 2026Jun 11, 2026Jun 13, 2026Jun 16, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Time (s)Replan Frequencyπ0.5Execution=DVACExecution=DVAC2026.0686.734.2512.5π0.5Execution=Fix15Execution=Fix152026.068039.6325.7π0.5Execution=Fix40Execution=Fix402026.0653.330.369.4ThinkingVLA2026.060.8——𝜋0.52026.060.6——𝜋02026.060.4——UP-VLA2026.060.2——