ResearchBenchmarksRobot Manipulation on Simulated robot contact trials OpenVLA (N=1200)Robot Manipulation on Simulated robot contact trials OpenVLA (N=1200)Follow24.08Task Success RatePaCo-VLA-0.96325.538412.0418.5416May 30, 2026Evaluation resultsMethodMethodLinksTask Success RateSafety RatePaCo-VLAInterface=OpenVLA acti...Interface=OpenVLA action-token interface2026.0524.08100OpenVLAShielded Projection=falseShielded Projection=false2026.05073.08OpenVLAShielded Projection=trueShielded Projection=true2026.05082.67