Robot Manipulation Latency and Throughput on LIBERO-Spatial
76Mean Latency (ms)PD-VLA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PD-VLALIBERO Avg. Steps=1.02026.06 | 76 | 82 | 13.2 | |
| π0-FASTLIBERO Avg. Steps=1.02026.06 | 98 | 102 | 10.2 | |
| OpenVLALIBERO Avg. Steps=1.02026.06 | 127 | 135 | 7.9 | |
| AVA-VLA (Full)LIBERO Avg. Steps=2.32026.06 | 145 | 189 | 6.9 | |
| AVA-VLA (w/o Early-Exit)LIBERO Avg. Steps=5.02026.06 | 312 | 340 | 3.2 | |
| CoT-VLALIBERO Avg. Steps=8.52026.06 | 892 | 1,240 | 1.1 |