Robot Instruction Following on LIBERO-CF Spatial
85.2Faithful Groundingpi0
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| pi0CAG=Vision-Action Prior (VA)2026.02 | 85.2 | 24.4 | 36.7 | 6.1 | |
| pi0CAG=Training-free (TF)2026.02 | 74.5 | 32.5 | 33.5 | 14.4 | |
| pi0CAG=None2026.02 | 70.9 | 37.1 | 34.4 | 19.1 | |
| pi0.5CAG=Training-free (TF)2026.02 | 52 | 45.3 | 27.3 | 33.3 | |
| pi0.5CAG=Vision-Action Prior (VA)2026.02 | 50.7 | 45.2 | 31.6 | 36 | |
| pi0.5CAG=None2026.02 | 39.3 | 61.3 | 24.4 | 56.9 | |
| OpenVLA-OFTCAG=Vision-Action Prior (VA)2026.02 | 26.5 | 59.5 | 7.9 | 35.2 | |
| OpenVLA-OFTCAG=Training-free (TF)2026.02 | 11.1 | 78.5 | 3.3 | 73.3 | |
| OpenVLA-OFTCAG=None2026.02 | 6.8 | 84.7 | 1.1 | 80.7 |