Robot Manipulation on LIBERO unseen tasks perturbed environments
75.6Success Rate (Unseen Task)SemiVLA + Selective LoRA
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SemiVLA + Selective LoRABackbone=OpenVLA, Source Tasks=Source + Unlabeled, Adaptation Mode=Semi-supervised2026.06 | 75.6 | 83.4 | 78.2 | 73.9 | 77.8 | |
| SemiVLA + LoRABackbone=OpenVLA, Source Tasks=Source + Unlabeled, Adaptation Mode=Semi-supervised2026.06 | 72.8 | 80.1 | 75.4 | 70.9 | 74.8 | |
| SemiVLA + AdapterBackbone=OpenVLA, Source Tasks=Source + Unlabeled, Adaptation Mode=Semi-supervised2026.06 | 68.3 | 75.9 | 71.6 | 66.8 | 70.7 | |
| OpenVLA + Selective LoRABackbone=OpenVLA, Source Tasks=Source, Adaptation Mode=Supervised2026.06 | 64.7 | 72.4 | 67.5 | 62.1 | 66.7 | |
| OpenVLA + LoRABackbone=OpenVLA, Source Tasks=Source, Adaptation Mode=Supervised2026.06 | 61.3 | 69.5 | 63.2 | 58.7 | 63.2 | |
| OpenVLA + AdapterBackbone=OpenVLA, Source Tasks=Source, Adaptation Mode=Supervised2026.06 | 57.8 | 65.1 | 60.3 | 55.9 | 59.8 | |
| OpenVLA Zero-shotBackbone=OpenVLA, Source Tasks=None, Adaptation Mode=Zero-shot2026.06 | 48.2 | 55.6 | 49.4 | 45 | 49.6 |