Robot Manipulation on LIBERO (Success Rate and Performance Drop)
90Success Rate (Spatial)ER
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| ER2026.05 | 90 | 20 | 38 | 16 | 24 | 18 | 31 | |
| LoRA2026.05 | 90 | 10 | 48 | 38 | 2 | 24 | 25 | |
| ConSFT2026.05 | 90 | 32 | 26 | 35 | 5 | 34 | 15 | |
| LwF2026.05 | 80 | 10 | 48 | 0 | 40 | 5 | 44 | |
| Base Model2026.05 | 25 | 58 | — | 40 | — | 49 | — |