ResearchBenchmarksReal-world Robotic Manipulation Out-of-distributionFollow54Average Success Rate (OOD Tasks)HyT2834.7541.548.25Oct 1, 2025Evaluation ResultsMethodMethodLinksAverage Success Rate (OOD Tasks)Success Rate (Rubber Duck in Green Bowl)Success Rate (Mushroom in Brown Bag)Success Rate (Purple Die Left of Lettuce)Success Rate (Zucchini in Front of Red Hexagon)HyTBackbone=OpenVLA-7B, F...Backbone=OpenVLA-7B, Fine-tuning=LoRA (rank 32), Batch size=32, Learning rate=5e-42025.1054201005075OpenVLABackbone=7B, Fine-tuni...Backbone=7B, Fine-tuning=None (Pre-trained)2025.1029400075