Robot Manipulation on LIBERO (Core Success Metrics)
100Spatial Success RateVLA-Corrector
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| VLA-CorrectorBackbone=π0.5, Mode=Few-shot2026.07 | 100 | 99.8 | 98 | 93.4 | 97.8 | — | |
| ACE-Brain-0.52026.07 | 100 | 100 | 96 | 97 | 98.2 | — | |
| WSA1-LModel Size=6B2026.07 | 99.4 | 99.8 | 98 | — | 98.2 | 95.6 | |
| MindLWPI2026.07 | 99.2 | 99.8 | 99.2 | 98.2 | 99.1 | — | |
| MindWPI2026.07 | 99 | 99.6 | 98.6 | 96.8 | 98.5 | — | |
| π0.52026.07 | 98.8 | 98.2 | 98 | 92.4 | 96.9 | — | |
| π0.52026.07 | 98.8 | 98.2 | 98 | — | 96.9 | 92.4 | |
| π0.52026.07 | 98.8 | 98.2 | 98 | 92.4 | 96.9 | — | |
| Mantis2026.07 | 98.8 | 99.2 | 94.4 | 94.2 | 96.7 | — | |
| π0.52026.07 | 98.8 | 98.2 | 98 | 92.4 | 96.9 | — | |
| Xiaomi-Robotics-02026.07 | 98.8 | 100 | 98.8 | 97.2 | 98.7 | — | |
| WSA1-BModel Size=3B2026.07 | 98.6 | 99.6 | 97.2 | — | 97.4 | 94.2 | |
| InternVLA-A1.52026.07 | 98.6 | 99.8 | 98.6 | 98.4 | 98.9 | — | |
| Lingbot-VA2026.07 | 98.5 | 99.6 | 97.2 | — | 98.5 | 98.5 | |
| LingBot-VA2026.07 | 98.5 | 99.6 | 97.2 | 98.5 | 98.5 | — | |
| MindPIbackbone=Frozen VLM2026.07 | 98.4 | 99.2 | 96.8 | 94.6 | 97.2 | — | |
| MemoryVLA2026.07 | 98.4 | 98.4 | 96.4 | 93.4 | 96.7 | — | |
| MindPIpre-training=Full PT2026.07 | 98.2 | 98.4 | 98 | 95.2 | 97.5 | — | |
| π0.5Mode=Full Fine-tuned2026.07 | 98.2 | 99.4 | 97.8 | 92.4 | 96.95 | — | |
| FastWAM2026.07 | 98.2 | 100 | 97 | — | 97.6 | 95.2 | |
| Fast-WAM2026.07 | 98.2 | 100 | 97 | 95.2 | 97.6 | — | |
| π02026.07 | 98 | 96.8 | 94.4 | 88.4 | 94.4 | — | |
| MindWPIpre-training=w/o PT2026.07 | 98 | 99.6 | 98.2 | 93.6 | 97.4 | — | |
| π02026.07 | 98 | 96.8 | 94.4 | — | 94.4 | 88.4 | |
| GeoPredict2026.07 | 98 | 98.2 | 95.7 | — | 96.5 | 94 | |
| π02026.07 | 98 | 96.8 | 94.4 | 88.4 | 94.4 | — | |
| InternVLA-M12026.07 | 98 | 99 | 93.8 | 92.6 | 95.9 | — | |
| MindPIpre-training=w/o PT2026.07 | 97.8 | 99 | 97 | 94 | 97 | — | |
| MindLPI2026.07 | 97.8 | 98.4 | 98 | 94.8 | 97.2 | — | |
| StarVLA-OFT2026.07 | 97.8 | 98.6 | 96.2 | 93.8 | 96.6 | — | |
| GR00T N1.62026.07 | 97.7 | 98.5 | 97.5 | 94.4 | 97 | — | |
| GR00T-N1.72026.07 | 97.7 | 98.5 | 97.5 | 94.4 | 97 | — | |
| OpenVLA-OFT2026.07 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | |
| OpenVLA-OFT2026.07 | 97.6 | 98.4 | 97.9 | — | 97.1 | 94.5 | |
| OpenVLA-OFT2026.07 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | |
| OpenVLA-OFT2026.07 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | |
| DreamVLA2026.07 | 97.5 | 94 | 89.5 | — | 92.6 | 89.5 | |
| Motus2026.07 | 96.8 | 99.8 | 96.6 | — | 97.7 | 97.6 | |
| π02026.07 | 96.8 | 98.8 | 95.8 | 85.2 | 94.1 | — | |
| Motus2026.07 | 96.8 | 99.8 | 96.6 | 97.6 | 97.7 | — | |
| π0-Fast2026.07 | 96.4 | 96.8 | 88.6 | 60.2 | 85.5 | — | |
| VITA2026.07 | 95.9 | 98.9 | 95.1 | 96.8 | 96.7 | — | |
| π0.5Mode=Few-shot Fine-tuned2026.07 | 95.4 | 97.8 | 96.2 | 86.6 | 94 | — | |
| GROOT-N12026.07 | 94.4 | 97.6 | 93 | 90.6 | 93.9 | — | |
| SpatialVLA2026.07 | 88.2 | 89.9 | 78.6 | — | 78.1 | 55.5 | |
| OpenVLA (Baseline)Params (B)=7.5, Mem (GB)=14.92026.06 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | |
| OpenVLA2026.07 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | |
| OpenVLA2026.07 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | |
| MiniVLAreproduced=true2025.10 | 79.4 | 38.8 | 68 | 30.2 | 54.1 | — | |
| Ours-LightParams (B)=6.6, Mem (GB)=13.02026.06 | 78.3 | 82.5 | 74 | 46.8 | 70.4 | — | |
| MG-Select*base_model=MiniVLA, joint_training=true2025.10 | 76.8 | 60.9 | 72.1 | 32.3 | 60.5 | — | |
| Ours-ModerateParams (B)=6.2, Mem (GB)=12.42026.06 | 70.5 | 74.9 | 64.7 | 39 | 62.3 | — | |
| Ours-AggressiveParams (B)=5.7, Mem (GB)=11.32026.06 | 59 | 65.7 | 56 | 29.5 | 52.5 | — | |
| Wanda(Sparse Lang. BB)Mem (GB)=10.62026.06 | 31.2 | 50.8 | 20 | 12.4 | 28.6 | — | |
| Wanda(75% Sparse Lang. BB)Mem (GB)=12.02026.06 | 25.4 | 49 | 20.8 | 11.4 | 26.7 | — | |
| LLM-PrunerParams (B)=6.2, Mem (GB)=12.42026.06 | 23.4 | — | — | 1 | — | — | |
| FLAPParams (B)=6.3, Mem (GB)=12.52026.06 | 0.2 | — | — | 0 | — | — | |
| Wanda(Full Sparse)Mem (GB)=10.22026.06 | 0 | 13.4 | 0.8 | 0 | 7.1 | — | |
| Qwen-VLA-Instruct2026.07 | — | — | — | — | 97.9 | — |