Robot Instruction Following on LIBERO-CF Object
34Faithful Groundingpi0.5
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| pi0.5CAG=Vision-Action Prior (VA)2026.02 | 34 | 49.8 | 18 | 29.8 | |
| pi0.5CAG=Training-free (TF)2026.02 | 24.6 | 65.2 | 9.2 | 41.4 | |
| pi0CAG=Vision-Action Prior (VA)2026.02 | 13.8 | 53.8 | 0 | 29.2 | |
| pi0CAG=Training-free (TF)2026.02 | 12.2 | 50.6 | 0.6 | 15 | |
| pi0.5CAG=None2026.02 | 11.4 | 68.8 | 5.8 | 66.8 | |
| pi0CAG=None2026.02 | 6 | 59.4 | 0 | 45 | |
| OpenVLA-OFTCAG=Vision-Action Prior (VA)2026.02 | 3.8 | 91.8 | 0 | 57 | |
| OpenVLA-OFTCAG=None2026.02 | 2 | 99.6 | 0 | 97.6 | |
| OpenVLA-OFTCAG=Training-free (TF)2026.02 | 1.6 | 100 | 0 | 94.4 |