Robot Manipulation on RoboCasa GR1
63.2Average Success RateAQC
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| AQCEvaluation episodes=200, Robot model=GR1, Filtered BC=true, Q-Chunking=true, Diffusion Q-Chunking=true, Adaptive Q-Chunking=true2026.05 | 63.2 | 66 | 68.5 | 64 | 56 | 63.5 | 43.5 | 64 | 59.5 | 68.5 | 76.5 | 63.5 | 60.5 | 67 | 71 | 32.5 | 71 | 55.5 | 60.5 | 78 | 63.5 | 88.5 | 68.5 | 63.5 | 42.5 | |
| FRAMESKIP2026.05 | 59.5 | 74 | 80 | 46 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M02026.05 | 58.3 | 86 | 74 | 48 | 46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M0Type=Specialist2026.05 | 58.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Qwen-VLA-InstructType=Generalist2026.05 | 56.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Gr00t N1.6 + Filtered BC + QCEvaluation episodes=200, Robot model=GR1, Filtered BC=true, Q-Chunking=true2026.05 | 55.5 | 64 | 65 | 59 | 44.5 | 54.5 | 36.5 | 62.5 | 50.5 | 63.5 | 70 | 60 | 56 | 61 | 59.5 | 26 | 64.5 | 48.5 | 58 | 70.5 | 57 | 80.5 | 67 | 62 | 31 | |
| Gr00t N1.6 + Filtered BCEvaluation episodes=200, Robot model=GR1, Filtered BC=true2026.05 | 54.9 | 62.5 | 64.5 | 56 | 35.5 | 51 | 34 | 60.5 | 48 | 62 | 68.5 | 57.5 | 54 | 59 | 60.5 | 24 | 62.5 | 47 | 56.5 | 68.5 | 55 | 78 | 65.5 | 60 | 29 | |
| TwinBrainVLA2026.05 | 54.6 | 74 | 72 | 52 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Being-H0.5Type=Specialist2026.05 | 53.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LangForce2026.05 | 52.6 | 72 | 78 | 46 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PhysBrain2026.05 | 50 | 74 | 68 | 42 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T N1.6Type=Specialist2026.05 | 49.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StarVLA-OFTType=Specialist2026.05 | 48.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T N1.52026.05 | 48.2 | 54 | 50 | 38 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Full-Frame Training2026.05 | 47.8 | 46 | 80 | 54 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Gr00t N1.6Evaluation episodes=200, Robot model=GR12026.05 | 47.6 | 51.5 | 13 | 8.5 | 14 | 41.5 | 16.5 | 58 | 46.5 | 68.5 | 65 | 46.5 | 58.5 | 57.5 | 63 | 28.5 | 57 | 43.5 | 51 | 78.5 | 51.5 | 71 | 64.5 | 57 | 31.5 | |
| GR00T N1.62026.05 | 47.6 | 51.5 | 13 | 8.5 | 14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Gr00t N1.6 + Filtered BC + QC + DQCEvaluation episodes=200, Robot model=GR1, Filtered BC=true, Q-Chunking=true, Diffusion Q-Chunking=true2026.05 | 46.1 | 53.5 | 42.5 | 54.5 | 21 | 53 | 31 | 55 | 41.5 | 54 | 63.5 | 49.5 | 48.5 | 52 | 52.5 | 19 | 56 | 40 | 50 | 61 | 48 | 70 | 58.5 | 53 | 24 | |
| Qwen-VLA-BaseType=Generalist2026.05 | 40.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Type=Specialist2026.05 | 37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |