Put Spoon on Towel on SimplerEnv WidowX
98Success RateIPI
Evaluation results
| Method | Links | ||
|---|---|---|---|
| IPIBase Model=OpenVLA-7B, Framework=StARe2025.12 | 98 | 99 | |
| IPIBase Model=Pi0.5, Framework=StARe2025.12 | 95.7 | 99.3 | |
| StA-PPOBase Model=OpenVLA-7B, Fine-tuning Protocol=SFT → StA-PPO(StARe)2025.12 | 94.3 | 97.7 | |
| RL4VLABase Model=OpenVLA-7B, Fine-tuning Protocol=RL4VLA2025.12 | 93 | 98.3 | |
| StA-PPOBase Model=Pi0.5, Fine-tuning Protocol=SFT → StA-PPO(StARe)2025.12 | 90.7 | 98.7 | |
| π_RLBase Model=Pi0.5, Fine-tuning Protocol=RL2025.12 | 82.7 | 98.3 | |
| SOFARBase Model=SOFAR2025.12 | 58.3 | 62.5 | |
| StA-TPOBase Model=Pi0.5, Fine-tuning Protocol=SFT → StA-TPO(StARe)2025.12 | 54 | 83.7 | |
| StA-TPOBase Model=OpenVLA-7B, Fine-tuning Protocol=SFT → StA-TPO(StARe)2025.12 | 51 | 85.7 | |
| SFTBase Model=Pi0.5, Fine-tuning Protocol=SFT2025.12 | 49.3 | 85.3 | |
| GRAPEBase Model=Pi0.5, Fine-tuning Protocol=GRAPE2025.12 | 48 | 78.7 | |
| Octo-SmallBase Model=Octo-Small2025.12 | 47.2 | 77.8 | |
| GRAPEBase Model=OpenVLA-7B, Fine-tuning Protocol=GRAPE2025.12 | 44.3 | 72 | |
| SFTBase Model=OpenVLA-7B, Fine-tuning Protocol=SFT2025.12 | 43.7 | 70.3 | |
| RoboVLMBase Model=RoboVLM2025.12 | 20.8 | 37.5 | |
| SpatialVLABase Model=SpatialVLA2025.12 | 20.8 | 25 | |
| Octo-BaseBase Model=Octo-Base2025.12 | 12.5 | 34.7 | |
| RT-1-XBase Model=RT-1-X2025.12 | 0 | 16.7 |