Robot Manipulation on ManiSkill Vision Generalization 3 (Unseen simulation tasks)
90Success Rate (Table)OpenVLA-RL + TT-VLA
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| OpenVLA-RL + TT-VLATT-VLA Adaptation=Enabled2026.01 | 90 | 86.25 | 85.83 | 65.83 | 72.08 | 80 | |
| OpenVLA-RLTT-VLA Adaptation=Disabled2026.01 | 87.08 | 85 | 85.83 | 64.17 | 69.17 | 78.25 | |
| TraceVLA + TT-VLATT-VLA Adaptation=Enabled2026.01 | 72.92 | 67.5 | 67.92 | 46.25 | 47.08 | 60.33 | |
| TraceVLATT-VLA Adaptation=Disabled2026.01 | 71.67 | 67.08 | 67.08 | 45.83 | 45.83 | 59.5 | |
| OpenVLA + TT-VLATT-VLA Adaptation=Enabled2026.01 | 57.08 | 47.08 | 42.92 | 31.25 | 31.33 | 41.93 | |
| OpenVLATT-VLA Adaptation=Disabled2026.01 | 54.85 | 45.42 | 40.83 | 28.33 | 30 | 39.83 | |
| Nora + TT-VLATT-VLA Adaptation=Enabled2026.01 | 44.58 | 34.58 | 41.67 | 20.83 | 27.08 | 33.75 | |
| NoraTT-VLA Adaptation=Disabled2026.01 | 39.72 | 32.5 | 36.67 | 19.58 | 22.92 | 29.92 |