Robot Instruction Following on LIBERO-CF Average
46.3Faithful Groundingpi0.5
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| pi0.5CAG=Vision-Action Prior (VA)2026.02 | 46.3 | 52.2 | 2,170 | 36.2 | |
| pi0.5CAG=Training-free (TF)2026.02 | 40.5 | 59.8 | 1,680 | 43.5 | |
| pi0CAG=Vision-Action Prior (VA)2026.02 | 37.3 | 52 | 1,040 | 25.8 | |
| pi0CAG=Training-free (TF)2026.02 | 31.9 | 59.3 | 960 | 27.6 | |
| pi0.5CAG=None2026.02 | 30.8 | 65.6 | 1,320 | 60.9 | |
| pi0CAG=None2026.02 | 28.8 | 63 | 960 | 45 | |
| OpenVLA-OFTCAG=Vision-Action Prior (VA)2026.02 | 11.3 | 65.4 | 210 | 41 | |
| OpenVLA-OFTCAG=Training-free (TF)2026.02 | 5.8 | 81.9 | 90 | 76.3 | |
| OpenVLA-OFTCAG=None2026.02 | 4.7 | 83.6 | 40 | 78.6 |