Robot Instruction Following on LIBERO-CF Long
64.2Faithful Groundingpi0.5
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| pi0.5CAG=Vision-Action Prior (VA)2026.02 | 64.2 | 61.1 | 2,670 | 41.8 | |
| pi0.5CAG=Training-free (TF)2026.02 | 60.7 | 56.7 | 2,090 | 36.7 | |
| pi0.5CAG=None2026.02 | 51.6 | 58.4 | 1,580 | 50.4 | |
| pi0CAG=Vision-Action Prior (VA)2026.02 | 22.7 | 82.2 | 290 | 48.7 | |
| pi0CAG=None2026.02 | 20.4 | 83.1 | 110 | 63.1 | |
| pi0CAG=Training-free (TF)2026.02 | 19.6 | 81.8 | 200 | 38.7 | |
| OpenVLA-OFTCAG=Vision-Action Prior (VA)2026.02 | 6.9 | 60 | 40 | 48.9 | |
| OpenVLA-OFTCAG=Training-free (TF)2026.02 | 4.9 | 61.1 | 20 | 54 | |
| OpenVLA-OFTCAG=None2026.02 | 4 | 62.9 | 20 | 54.4 |