Robot Manipulation on SimplerEnv RT-1 Visual Matching
86.7Success RateMindWPI
Evaluation Results
| Method | Links | |
|---|---|---|
| MindWPISize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 86.7 | |
| MindLWPISize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 84.4 | |
| FPC-VLASize=7B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 78 | |
| MemoryVLASize=7B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 77.7 | |
| MindPI w/o PTSize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 75.7 | |
| MindWPI w/o PTSize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 75.2 | |
| SpatialVLASize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 75.1 | |
| MindLPISize=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 74.6 | |
| MindPI (Frozen VLM)Size=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 72.7 | |
| DD-VLASize=7B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 71.2 | |
| MindPI (Full PT)Size=4B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 68.2 | |
| OpenVLA-OFTSize=7B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 63 | |
| π0+FASTSize=3B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 61.9 | |
| π0Size=3B, Fine-tuning Protocol=RT-1-only fine-tuning2026.07 | 58.8 |