Robot Policy Learning on LIBERO
99.5S (Spatial) RateGR00T-N1.6-ft + World2Act
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GR00T-N1.6-ft + World2Act2026.03 | 99.5 | 100 | 98.8 | 94 | 98.1 | — | — | — | |
| GR00T-N1.6-ft + DreamGen2026.03 | 99.1 | 82.6 | 99.2 | 87.6 | 92.6 | — | — | — | |
| VLANeXtModel Category=Ours2026.02 | 99 | 99.2 | 96.6 | 94.6 | 97.4 | — | — | — | |
| π0.52026.03 | 98.8 | 98.2 | 98 | 92.4 | 96.9 | — | — | — | |
| Cosmos Policy2026.03 | 98.1 | 100 | 98.2 | 97.6 | 98.5 | — | — | — | |
| π0.5Size=3.5B2026.03 | 98 | 98 | 98 | 92 | 97 | — | — | — | |
| LAR-MoE16Size=150M2026.03 | 98 | 99 | 96 | 88 | 95.2 | — | — | — | |
| Cosmos Policy + World2Act2026.03 | 98 | 100 | 98.3 | 98 | 98.6 | — | — | — | |
| GR00T-N1.6-ft2026.03 | 97.7 | 98.4 | 97.5 | 94.3 | 97 | — | — | — | |
| OpenVLA-OFTModel Category=VLA Models2026.02 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | — | — | |
| OpenVLA-OFT2026.03 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | — | — | |
| FLOWERModel Category=VLA Models2026.02 | 97.5 | 99.1 | 96.1 | 94.9 | 96.9 | — | — | — | |
| π02026.03 | 96.8 | 98.8 | 95.8 | 85.2 | 94.2 | — | — | — | |
| UniVLAModel Category=VLA Models2026.02 | 96.5 | 96.8 | 95.6 | 92 | 95.2 | — | — | — | |
| UniVLA2026.03 | 96.5 | 96.8 | 95.6 | 92 | 95.2 | — | — | — | |
| π0-FastModel Category=VLA Models2026.02 | 96.4 | 96.8 | 88.6 | 60.2 | 85.5 | — | — | — | |
| VLA-IAPBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 94.8 | 98.5 | 95.2 | 84.2 | — | — | — | — | |
| VLA-CacheBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 94.5 | 97.8 | 94.5 | 82.6 | — | — | — | — | |
| VLA-IAPBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 94.5 | 98.3 | 94.5 | 83.4 | — | — | — | — | |
| VanillaBase Model=Vanilla, Token Retention Ratio=100%, Base Framework=OpenPi (π0, π0.5)2026.03 | 94.2 | 98.2 | 94.6 | 82.8 | — | — | — | — | |
| VLA-CacheBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 94.1 | 95.9 | 94.8 | 82 | — | — | — | — | |
| SparseVLMBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 93.8 | 94.8 | 92.5 | 80.1 | — | — | — | — | |
| FastVBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 93.5 | 96.1 | 92.2 | 80.5 | — | — | — | — | |
| VLA-IAPBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 93.2 | 97.6 | 94.2 | 82.6 | — | — | — | — | |
| SmolVLAModel Category=VLA Models2026.02 | 93 | 94 | 91 | 77 | 88.8 | — | — | — | |
| SmolVLASize=2.25B2026.03 | 93 | 94 | 91 | 77 | 88.7 | — | — | — | |
| FastVBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 92.4 | 95.3 | 91 | 79.4 | — | — | — | — | |
| NORAModel Category=VLA Models2026.02 | 92.2 | 95.4 | 89.4 | 74.6 | 87.9 | — | — | — | |
| SparseVLMBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 92 | 93.8 | 90.7 | 77.6 | — | — | — | — | |
| DivPruneBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 91.8 | 92.5 | 91.4 | 79.2 | — | — | — | — | |
| VLA-IAPBase Framework=DreamVLA, Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 91.5 | 93.5 | 92.5 | 90.5 | — | — | — | — | |
| VLA-IAPBase Framework=DreamVLA, Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 90.5 | 92 | 90.5 | 89.7 | — | — | — | — | |
| π0Model Category=VLA Models2026.02 | 90 | 86 | 95 | 73 | 86 | — | — | — | |
| π0Size=3.5B2026.03 | 90 | 86 | 95 | 73 | 86 | — | — | — | |
| DivPruneBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 88.8 | 92 | 89.8 | 75.3 | — | — | — | — | |
| SpatialVLAModel Category=VLA Models2026.02 | 88.2 | 89.9 | 78.6 | 55.5 | 78.1 | — | — | — | |
| VLA-CacheBase Framework=DreamVLA, Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 88 | 89.5 | 89.5 | 87.5 | — | — | — | — | |
| CoT-VLAModel Category=VLA Models2026.02 | 87.5 | 91.6 | 87.6 | 69 | 83.9 | — | — | — | |
| VLA-CacheBase Framework=DreamVLA, Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 87.5 | 88 | 86 | 87.5 | — | — | — | — | |
| VLA-IAPBase Framework=DreamVLA, Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 87.5 | 89.5 | 89.2 | 89.1 | — | — | — | — | |
| SparseVLMBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 87.1 | 86.2 | 82.5 | 71.9 | — | — | — | — | |
| SmolVLASize=240M2026.03 | 87 | 93 | 88 | 63 | 82.7 | — | — | — | |
| FastVBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 86.8 | 80.7 | 86.2 | 73.9 | — | — | — | — | |
| FastVBase Framework=DreamVLA, Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 86.5 | 86.5 | 84 | 87.5 | — | — | — | — | |
| SparseVLMBase Framework=DreamVLA, Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 86.5 | 85 | 91.5 | 86.5 | — | — | — | — | |
| VLA-CacheBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 86.5 | 87.2 | 85.6 | 72.6 | — | — | — | — | |
| WorldVLAModel Category=VLA Models2026.02 | 85.6 | 89 | 82.6 | 59 | 79.1 | — | — | — | |
| DivPruneBase Framework=DreamVLA, Token Retention Ratio=70%, Pruning Ratio=30%2026.03 | 85.5 | 90.5 | 88 | 85.5 | — | — | — | — | |
| OpenVLAModel Category=VLA Models2026.02 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | — | — | |
| OpenVLASize=8B2026.03 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | — | — | |
| TraceVLAModel Category=VLA Models2026.02 | 84.6 | 85.2 | 75.1 | 54.1 | 74.8 | — | — | — | |
| VanillaBase Model=Vanilla, Token Retention Ratio=100%, Base Framework=DreamVLA2026.03 | 84.5 | 91.5 | 89.5 | 89.5 | — | — | — | — | |
| FastVBase Framework=DreamVLA, Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 84.5 | 81.5 | 84 | 86.5 | — | — | — | — | |
| SparseVLMBase Framework=DreamVLA, Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 84.5 | 83.5 | 90.5 | 86.5 | — | — | — | — | |
| DivPruneBase Framework=DreamVLA, Token Retention Ratio=50%, Pruning Ratio=50%2026.03 | 84.5 | 92 | 84.5 | 85 | — | — | — | — | |
| DivPruneBase Framework=OpenPi (π0, π0.5), Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 82.1 | 72.2 | 79.4 | 66 | — | — | — | — | |
| ID-FT WMCategory=RL in WM (VLM reward), Tgt. data=5102026.05 | 82 | 79.8 | 63.4 | 38.6 | 66 | — | — | — | |
| WoVR WMCategory=RL in WM (VLM reward), Tgt. data=25102026.05 | 81.6 | 71.6 | 66.4 | 24 | 60.9 | — | — | — | |
| VLA-CacheBase Framework=DreamVLA, Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 81.5 | 81.5 | 79.2 | 79.5 | — | — | — | — | |
| FastVBase Framework=DreamVLA, Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 79 | 56.5 | 73 | 81.5 | — | — | — | — | |
| OctoModel Category=Direct Policy Models2026.02 | 78.9 | 85.7 | 84.6 | 51.5 | 75.1 | — | — | — | |
| OctoSize=90M2026.03 | 78.9 | 85.7 | 84.6 | 51.1 | 75.1 | — | — | — | |
| MDTModel Category=Direct Policy Models2026.02 | 78.5 | 87.5 | 73.5 | 64.8 | 76.4 | — | — | — | |
| Diffusion PolicyModel Category=Direct Policy Models2026.02 | 78.3 | 92.5 | 68.3 | 50.5 | 72.4 | — | — | — | |
| Diffusion PolicySize=263M2026.03 | 78.3 | 92.5 | 68.3 | 50.5 | 72.4 | — | — | — | |
| SparseVLMBase Framework=DreamVLA, Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 76.5 | 43 | 79 | 80.5 | — | — | — | — | |
| Co-Train WMCategory=RL in WM (VLM reward), Tgt. data=102026.05 | 73.2 | 60.2 | 58.4 | 36.6 | 57.1 | — | — | — | |
| DivPruneBase Framework=DreamVLA, Token Retention Ratio=30%, Pruning Ratio=70%2026.03 | 71 | 87.5 | 81.5 | 80.5 | — | — | — | — | |
| Online RL (Long)Category=RL in simulator (GT reward), Tgt. data=25702026.05 | 68.8 | 78.8 | 65.2 | 22.4 | 58.8 | — | — | — | |
| Zero-Shot WMCategory=RL in WM (VLM reward), Tgt. data=102026.05 | 65.8 | 47.2 | 60.2 | 35.8 | 52.3 | — | — | — | |
| Online RL (Short)Category=RL in simulator (GT reward), Tgt. data=5222026.05 | 58.4 | 60.2 | 55.2 | 17.6 | 47.9 | — | — | — | |
| 1-shot SFTCategory=No RL, Tgt. data=102026.05 | 54.6 | 46.4 | 52.2 | 20.2 | 43.4 | — | — | — | |
| Zero-Shot from 90Category=No RL, Tgt. data=02026.05 | 3.4 | 0 | 4.2 | 7 | 3.7 | — | — | — | |
| DARTArchitecture=π0-FAST, Adaptation setting=one-shot2026.07 | — | — | — | — | 79.4 | 91.2 | 80.8 | 66.2 | |
| FLAArchitecture=π0-FAST, Adaptation setting=one-shot2026.07 | — | — | — | — | 76.6 | 86.5 | 78.4 | 64.9 | |
| One-shot FTArchitecture=π0-FAST, Adaptation setting=one-shot2026.07 | — | — | — | — | 62.1 | 71.1 | 63 | 52.2 | |
| RETAINArchitecture=π0-FAST, Adaptation setting=one-shot2026.07 | — | — | — | — | 76.5 | 88.3 | 78.4 | 62.7 | |
| Zero-shotArchitecture=π0-FAST, Adaptation setting=Zero-shot2026.07 | — | — | — | — | 73.4 | 84.6 | 73.6 | 62 |