Robot manipulation on ManiSkill (Out-Of-Distribution)
81.7Vision ScoreOpenVLA + FAN-SFT
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| OpenVLA + FAN-SFTtuning_type=FAN-SFT2026.04 | 81.7 | 63.5 | 44.8 | 63.3 | |
| OpenVLA + FAN-SFTSFT=true, Backbone=OpenVLA, Regularizer=FAN2026.04 | 81.7 | 63.5 | 44.8 | 63.3 | |
| π-StepNFTBase model=π0.52026.03 | 76.9 | 56.6 | 45.1 | 59.5 | |
| OpenVLA + SFTtuning_type=SFT2026.04 | 76.6 | 57.4 | 40.4 | 58.1 | |
| OpenVLA + SFTSFT=true, Backbone=OpenVLA2026.04 | 76.6 | 57.4 | 40.4 | 58.1 | |
| RL4VLA2026.04 | 74 | 61.8 | 46.2 | 60.7 | |
| RL4VLASFT=true, Source=Original Paper2026.04 | 74 | 61.8 | 46.2 | 60.7 | |
| π-StepNFTBase model=π02026.03 | 69.1 | 49.1 | 33.1 | 50.4 | |
| πRL (Flow-SDE + PPO)Base model=π0.52026.03 | 68 | 34.5 | 45.4 | 49.3 | |
| πRL (Flow-SDE + PPO)Base model=π02026.03 | 61.1 | 25.4 | 31.5 | 39.3 | |
| Full SFTBase model=π0.52026.03 | 40.2 | 16.6 | 22.4 | 26.4 | |
| Full SFTBase model=π02026.03 | 32.6 | 8.4 | 13.2 | 18.1 |