Robot Instruction Following on LIBERO-CF OOD
36.4Faithful Groundingpi0.5
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| pi0.5CAG=Vision-Action Prior (VA)2026.02 | 36.4 | 52.8 | 1,030 | 37.1 | |
| pi0CAG=Vision-Action Prior (VA)2026.02 | 27.6 | 47.5 | 210 | 19.2 | |
| pi0.5CAG=Training-free (TF)2026.02 | 24.8 | 71.9 | 990 | 62.7 | |
| pi0CAG=Training-free (TF)2026.02 | 21.1 | 72.4 | 210 | 42.3 | |
| pi0.5CAG=None2026.02 | 20.7 | 74 | 690 | 69.6 | |
| pi0CAG=None2026.02 | 18 | 72.4 | 270 | 52.9 | |
| OpenVLA-OFTCAG=Vision-Action Prior (VA)2026.02 | 7.9 | 50.1 | 10 | 22.7 | |
| OpenVLA-OFTCAG=None2026.02 | 6 | 87.3 | 10 | 81.7 | |
| OpenVLA-OFTCAG=Training-free (TF)2026.02 | 5.6 | 88.1 | 10 | 83.5 |