Robot Manipulation on LIBERO OpenVLA-OFT
88.2LIBERO Spatial SuccessProgressVLA
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| ProgressVLAguidance=Full2026.03 | 88.2 | 96.4 | 87.2 | 66.2 | 84.5 | — | — | — | |
| ProgressVLAguidance=w/ cg2026.03 | 85.8 | 96.1 | 86 | 65.4 | 83.3 | — | — | — | |
| OpenVLA2026.03 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | — | — | |
| Dita2026.03 | 84.2 | 96.3 | 85.4 | 63.8 | 82.4 | — | — | — | |
| ProgressVLAguidance=w/o cg2026.03 | 83.2 | 95 | 84.6 | 63.2 | 81.5 | — | — | — | |
| Octo2026.03 | 78.9 | 85.7 | 84.6 | 51.1 | 75.1 | — | — | — | |
| MDT2026.03 | 78.5 | 87.5 | 73.5 | 64.8 | 76.1 | — | — | — | |
| Diffusion Policy2026.03 | 78.3 | 92.5 | 68.3 | 50.5 | 72.4 | — | — | — | |
| MaIL2026.03 | 74.3 | 90.1 | 81.8 | 78.6 | 83.5 | — | — | — | |
| LAPA2026.03 | 73.8 | 74.6 | 58.8 | 55.4 | 65.7 | — | — | — | |
| VanillaPruning Ratio=0%2026.01 | 0.976 | 0.984 | 0.962 | 0.946 | 0.967 | 4.05 | 143.56 | 1 | |
| EcoVLAPruning Ratio=25%2026.01 | 0.974 | 0.988 | 0.946 | 0.964 | 0.968 | 3.23 | 113.98 | 1.26 | |
| VLA-Cache + EcoVLAPruning Ratio=25%2026.01 | 0.968 | 0.984 | 0.924 | 0.942 | 0.955 | 2.43 | 121.24 | 1.34 | |
| VLA-CachePruning Ratio=None2026.01 | 0.966 | 0.986 | 0.964 | 0.948 | 0.966 | 3.03 | 148.51 | 1.1 | |
| FastV + EcoVLAPruning Ratio=25%2026.01 | 0.966 | 0.982 | 0.94 | 0.96 | 0.962 | 1.96 | 65.85 | 2.18 | |
| FastVPruning Ratio=None2026.01 | 0.964 | 0.972 | 0.89 | 0.948 | 0.944 | 2.49 | 118.57 | 1.21 | |
| WandaPruning Ratio=25%2026.01 | 0.958 | 0.988 | 0.872 | 0.932 | 0.938 | 3.14 | 124.32 | 1.15 | |
| EcoVLAPruning Ratio=40%2026.01 | 0.956 | 0.978 | 0.894 | 0.932 | 0.94 | 2.74 | 101.58 | 1.41 | |
| FastV + EcoVLAPruning Ratio=40%2026.01 | 0.944 | 0.978 | 0.858 | 0.934 | 0.929 | 1.64 | 61.16 | 2.35 | |
| VLA-Cache + EcoVLAPruning Ratio=40%2026.01 | 0.93 | 0.982 | 0.896 | 0.934 | 0.936 | 2.03 | 108.48 | 1.5 | |
| WandaPruning Ratio=40%2026.01 | 0.892 | 0.984 | 0.77 | 0.906 | 0.888 | 2.57 | 106.47 | 1.35 |