Robot Manipulation on LIBERO Simulated 1.0 (test)
100Spatial Success RateUMA1
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| UMA1objective=UMA12025.11 | 100 | 94 | 91 | 72 | 89.25 | |
| UMA1−3objective=UMA1−32025.11 | 99 | 97 | 95 | 77 | 92 | |
| BenignVictim Model=OpenVLA-oft-w2025.11 | 99 | 99 | 98 | 97 | 98.25 | |
| TMA_1Victim Model=OpenVLA-oft2025.11 | 99 | 93 | 81 | 25 | 74.5 | |
| DOF1objective=DOF12025.11 | 98 | 97 | 90 | 72 | 89.25 | |
| DOF7objective=DOF72025.11 | 98 | 97 | 94 | 75 | 91 | |
| BenignVictim Model=OpenVLA-oft2025.11 | 98 | 98 | 98 | 94 | 97 | |
| Benignobjective=Benign2025.11 | 96 | 98 | 95 | 79 | 92 | |
| UADA1−3objective=UADA1−32025.11 | 95 | 96 | 96 | 79 | 91.5 | |
| UADA_1Victim Model=OpenVLA-oft2025.11 | 94 | 86 | 61 | 3 | 61 | |
| UADA1objective=UADA12025.11 | 93 | 96 | 90 | 75 | 88.5 | |
| UPA-RFASobjective=Our2025.11 | 91 | 96 | 85 | 72 | 86 | |
| UMA_1-3Victim Model=OpenVLA-oft2025.11 | 90 | 93 | 57 | 3 | 60.75 | |
| UADA_1-3Victim Model=OpenVLA-oft2025.11 | 87 | 90 | 64 | 4 | 61.25 | |
| TMA_7Victim Model=OpenVLA-oft2025.11 | 83 | 93 | 75 | 62 | 78.25 | |
| UMA_1Victim Model=OpenVLA-oft2025.11 | 79 | 95 | 69 | 3 | 61.5 | |
| TMA_1Victim Model=OpenVLA-oft-w2025.11 | 69 | 89 | 58 | 61 | 69.25 | |
| UPA-RFASVictim Model=OpenVLA-oft2025.11 | 66 | 43 | 62 | 3 | 43.5 | |
| TMA_7Victim Model=OpenVLA-oft-w2025.11 | 47 | 78 | 47 | 34 | 51.5 | |
| UMA_1-3Victim Model=OpenVLA-oft-w2025.11 | 46 | 88 | 38 | 39 | 52.75 | |
| UADA_1-3Victim Model=OpenVLA-oft-w2025.11 | 37 | 74 | 21 | 33 | 41.25 | |
| UADA_1Victim Model=OpenVLA-oft-w2025.11 | 35 | 82 | 27 | 21 | 41.25 | |
| UMA_1Victim Model=OpenVLA-oft-w2025.11 | 25 | 86 | 40 | 31 | 45.5 | |
| UPA-RFASVictim Model=OpenVLA-oft-w2025.11 | 7 | 0 | 10 | 6 | 5.75 |