Robot Manipulation on Real-world Manipulation Task Suite v1 (test)
100Scarf Success RateX-VLAAFM
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| X-VLAAFMintegration mechanism=flat token sequence, force information=enabled, memory information=enabled2026.06 | 100 | 73.3 | 13.3 | 86.7 | 0 | 6.7 | 100 | 54.3 | |
| DAM-VLA/Fasynchronous decoupling=enabled, force=disabled, visual memory=enabled2026.06 | 100 | 73.3 | 86.7 | 40 | 0 | 6.7 | 100 | 58.1 | |
| DAM-VLA/Masynchronous decoupling=enabled, force=enabled, visual memory=disabled2026.06 | 100 | 86.7 | 86.7 | 80 | 13.3 | 13.3 | 86.7 | 66.7 | |
| DAM-VLA (Ours)asynchronous decoupling=enabled, force=enabled, visual memory=enabled, replan rate=≈ 5.5 Hz2026.06 | 100 | 100 | 93.3 | 100 | 93.3 | 80 | 100 | 95.2 | |
| X-VLA25replan rate=≈ 1 Hz2026.06 | 80 | 86.7 | 13.3 | 0 | 0 | 6.7 | 100 | 40.95 | |
| X-VLA100replan rate=≈ 3.5 Hz2026.06 | 80 | 13.3 | 6.7 | 0 | 0 | 0 | 53.3 | 21.9 | |
| DAM-VLA/F/Masynchronous decoupling=enabled, force=disabled, visual memory=disabled2026.06 | 80 | 66.7 | 40 | 20 | 0 | 6.7 | 66.7 | 40 |