Robot Manipulation on ManiSkill Semantics Generalization 3 (Unseen simulation tasks)
65Object OOD ScoreOpenVLA-RL + TT-VLA
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| OpenVLA-RL + TT-VLATT-VLA Adaptation=Enabled2026.01 | 65 | 90 | 61.25 | 79.58 | 80.83 | 78.33 | 80 | 76.43 | |
| OpenVLA-RLTT-VLA Adaptation=Disabled2026.01 | 62.5 | 86.67 | 60 | 79.58 | 80.42 | 77.5 | 77.5 | 74.88 | |
| OpenVLA + TT-VLATT-VLA Adaptation=Enabled2026.01 | 32.05 | 50.17 | 29.58 | 37.5 | 45 | 46.25 | 50 | 41.51 | |
| OpenVLATT-VLA Adaptation=Disabled2026.01 | 28.75 | 49.58 | 20.42 | 33.33 | 43.75 | 45 | 49.58 | 38.63 | |
| TraceVLA + TT-VLATT-VLA Adaptation=Enabled2026.01 | 25 | 60 | 28.33 | 51.25 | 55.83 | 47.08 | 60 | 46.78 | |
| TraceVLATT-VLA Adaptation=Disabled2026.01 | 22.5 | 59.17 | 27.92 | 47.5 | 55.83 | 45 | 57.92 | 45.12 | |
| Nora + TT-VLATT-VLA Adaptation=Enabled2026.01 | 11.25 | 42.5 | 18.75 | 30.83 | 30 | 18.33 | 27.08 | 25.53 | |
| NoraTT-VLA Adaptation=Disabled2026.01 | 10 | 39.85 | 16.67 | 28.33 | 26.25 | 17.08 | 27.08 | 23.57 |