Robot Manipulation on SimplerEnv (Pick-Can, Move-Near, Draw Tasks)
98.7Pick-Can Success Ratevilla-X
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| villa-XTraining Setting=Unconstrained2026.06 | 98.7 | 75 | — | — | 77.7 | 59.3 | |
| GR00T-N1.6-LARATraining Setting=Unconstrained2026.06 | 98 | 89 | — | — | 79.9 | 52.8 | |
| GR00T-N1.6Training Setting=Unconstrained2026.06 | 97.3 | 87 | — | — | 78.9 | 52.3 | |
| SemiVLA-GR00T-N1.6Labeled Dl=10%, Unlabeled Du=90%2026.06 | 92 | 87.6 | — | — | 77.4 | 52.5 | |
| SpatialVLATraining Setting=Unconstrained2026.06 | 88 | 72.7 | — | — | 70.7 | 41.8 | |
| GST-VLA2026.03 | 83.1 | 77.5 | 75.6 | 84.7 | 80.2 | — | |
| LARA (full)Training Setting=OXE-Constrained2026.06 | 82.3 | 83.7 | — | — | 65.2 | 29.5 | |
| SpatialVLA2026.03 | 78.2 | 72.4 | 69.8 | 78.8 | 74.8 | — | |
| SemiVLA-π0-FASTLabeled Dl=10%, Unlabeled Du=90%2026.06 | 76.5 | 86 | — | — | 70.2 | 48.2 | |
| pi0-FASTTraining Setting=Unconstrained2026.06 | 75.3 | 67.5 | — | — | 61.9 | 42.9 | |
| MagmaTraining Setting=Unconstrained2026.06 | 75 | 53 | — | — | 62.3 | 58.9 | |
| Moto-GPTTraining Setting=OXE-Constrained2026.06 | 74 | 60.4 | — | — | 61.4 | 43.1 | |
| CogACT2026.03 | 73.8 | 65.2 | 63 | 72.5 | 68.6 | — | |
| SemiVLA-OpenVLA-OFTLabeled Dl=10%, Unlabeled Du=90%2026.06 | 72 | 84.4 | — | — | 68.3 | 48.5 | |
| GR00T-N1.6-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 70.2 | 74.5 | — | — | 66.4 | 54.6 | |
| π02026.03 | 70.1 | 61.3 | 59.4 | 67.4 | 64.6 | — | |
| SemiVLA-OpenVLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 66 | 78.2 | — | — | 62.4 | 43 | |
| OpenVLA2026.03 | 62.4 | 57.1 | 54.3 | 63.2 | 59.3 | — | |
| LARA (DiT-only)Training Setting=OXE-Constrained2026.06 | 62.3 | 84 | — | — | 55.8 | 21 | |
| LARA-style AlignLabeled Dl=10%, Unlabeled Du=90%2026.06 | 60.5 | 70.8 | — | — | 58.1 | 43 | |
| π0-FAST-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 58.4 | 63.1 | — | — | 55.8 | 45.9 | |
| LAM-PseudoLabeled Dl=10%, Unlabeled Du=90%2026.06 | 57 | 66.2 | — | — | 55.2 | 42.5 | |
| OpenVLA-OFTLabeled Dl=10%, Unlabeled Du=02026.06 | 52.5 | 57.3 | — | — | 50.2 | 40.8 | |
| FixMatch-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 47.5 | 58 | — | — | 49 | 41.6 | |
| MeanTeacher-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 46.3 | 57.1 | — | — | 48.3 | 41.5 | |
| TraceVLATraining Setting=Unconstrained2026.06 | 45 | 63.8 | — | — | 57.3 | 63.1 | |
| PseudoAction-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 44 | 55.2 | — | — | 45.8 | 38.1 | |
| OpenVLA-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 36.8 | 48.2 | — | — | 41.4 | 39.1 | |
| Octo-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 19.5 | 24.3 | — | — | 21.6 | 21 | |
| OctoTraining Setting=OXE-Constrained2026.06 | 17 | 4.2 | — | — | 14.6 | 22.7 | |
| OpenVLATraining Setting=OXE-Constrained2026.06 | 16.3 | 46.2 | — | — | 32.7 | 35.6 | |
| OpenVLA Zero-shotLabeled Dl=0, Unlabeled Du=02026.06 | 16.3 | 46.2 | — | — | 32.7 | 35.6 |