Robot Manipulation on LIBERO Average
98.7Success RateGEAR-VLA
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GEAR-VLA2026.06 | 98.7 | — | — | — | — | — | |
| ACoT2026.06 | 98.5 | — | — | — | — | — | |
| X-VLA2026.06 | 98.1 | — | — | — | — | — | |
| UniVLA + EFNBase Model=UniVLA, Vol=10002025.10 | 97.2 | — | — | 151.3 | — | — | |
| π0.52026.06 | 96.9 | — | — | — | — | — | |
| GO-1 + EFNBase Model=GO-1, Vol=10002025.10 | 96.7 | — | — | 154.8 | — | — | |
| UniVLA + EFNBase Model=UniVLA, Vol=3002025.10 | 96.6 | — | — | 156.2 | — | — | |
| GAM2026.05 | 96.1 | — | — | — | — | 1 | |
| GO-1 + EFNBase Model=GO-1, Vol=3002025.10 | 95.9 | — | — | 157.5 | — | — | |
| UniVLA + R2ABase Model=UniVLA2025.10 | 95.8 | — | — | 158 | — | — | |
| GO-1 + R2ABase Model=GO-12025.10 | 95.5 | — | — | 158.1 | — | — | |
| UniVLA2026.06 | 95.5 | — | — | — | — | — | |
| UniVLABase Model=UniVLA2025.10 | 95.2 | — | — | 164.2 | — | — | |
| UniVLA + ResActBase Model=UniVLA2025.10 | 95.1 | — | — | 160 | — | — | |
| GO-1 + ResActBase Model=GO-12025.10 | 94.8 | — | — | 160.3 | — | — | |
| UniVLA + GC-TTTBase Model=UniVLA2025.10 | 94.7 | — | — | 162.1 | — | — | |
| GO-1Base Model=GO-12025.10 | 94.7 | — | — | 163.1 | — | — | |
| GO-1 + GC-TTTBase Model=GO-12025.10 | 94.6 | — | — | 163.3 | — | — | |
| π02026.06 | 94.4 | — | — | — | — | — | |
| π02026.05 | 94.1 | — | — | — | — | 2 | |
| π02026.04 | 93.33 | — | — | — | — | — | |
| UniVLA + kNN-RAGBase Model=UniVLA2025.10 | 92.6 | — | — | 168.9 | — | — | |
| BEAST2026.05 | 92.5 | — | — | — | — | 3 | |
| GO-1 + kNN-RAGBase Model=GO-12025.10 | 92.1 | — | — | 168 | — | — | |
| OpenVLA + EFNBase Model=OpenVLA, Vol=10002025.10 | 87 | — | — | 156.7 | — | — | |
| π0-FAST2026.05 | 85.5 | — | — | — | — | 4 | |
| OpenVLA + EFNBase Model=OpenVLA, Vol=3002025.10 | 84.4 | — | — | 160 | — | — | |
| WorldVLA2026.06 | 81.8 | — | — | — | — | — | |
| OpenVLA + R2ABase Model=OpenVLA2025.10 | 81.6 | — | — | 156.3 | — | — | |
| OpenVLA + ResActBase Model=OpenVLA2025.10 | 79.2 | — | — | 158.6 | — | — | |
| SpatialVLA2026.05 | 78.1 | — | — | — | — | 5 | |
| OpenVLA + GC-TTTBase Model=OpenVLA2025.10 | 77.4 | — | — | 162.8 | — | — | |
| OpenVLABase Model=OpenVLA2025.10 | 76.5 | — | — | 160.2 | — | — | |
| OpenVLA2026.05 | 76.5 | — | — | — | — | 6 | |
| OpenVLA2026.06 | 76.5 | — | — | — | — | — | |
| Octo2026.05 | 75.1 | — | — | — | — | 7 | |
| OpenVLA + kNN-RAGBase Model=OpenVLA2025.10 | 73.2 | — | — | 166.4 | — | — | |
| π0+ERTMethod Variant=ERT2026.04 | 65.5 | 10.15 | 6.35 | — | — | — | |
| π0+GRPOMethod Variant=GRPO2026.04 | 20.45 | 7.05 | 4.58 | — | — | — | |
| π0+GRPO w/o KLMethod Variant=GRPO without KL2026.04 | 11.35 | 5.28 | 3.95 | — | — | — | |
| π0+DAERTMethod Variant=DAERT2026.04 | 5.85 | 12.23 | 8.48 | — | — | — | |
| Arm imageAttack Setting=Black-box Transfer2026.05 | — | — | — | — | 19.56 | — | |
| Random NoiseAttack Setting=Black-box Transfer2026.05 | — | — | — | — | 15.11 | — | |
| TMA1Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 28.4 | — | |
| TMA1-3Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 32.24 | — | |
| TMA1-7Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 28.73 | — | |
| TMA7Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 26.6 | — | |
| UADA1Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 18.25 | — | |
| UADA1-3Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 37.53 | — | |
| UPA1Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 21.24 | — | |
| UPA1-3Attack Setting=Black-box Transfer2026.05 | — | — | — | — | 20.78 | — | |
| VLA-HijackAttack Setting=Black-box Transfer2026.05 | — | — | — | — | 61.64 | — |