Robot Task Completion on LIBERO (Success Rate and Wall-Clock Time)
95.1Success Rate (Mean)Premover
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PremoverSetting=Premover2026.05 | 95.1 | 98.6 | 99.1 | 93.7 | 88.9 | 22.7 | 24.4 | 21.9 | 48.6 | 29.4 | 21.6 | 24.1 | 19.2 | 44.5 | 27.3 | |
| Full-promptSetting=Full-prompt2026.05 | 95 | 99.4 | 97.4 | 94.9 | 88.3 | 31 | 30.7 | 23.8 | 50.8 | 34 | 30.8 | 29.7 | 21.5 | 45.2 | 31.8 | |
| SemiVLA-GR00T-N1.6Labeled Dl=10%, Unlabeled Du=90%2026.06 | 94.1 | 96 | 94.8 | 95.2 | 90.4 | — | — | — | — | — | — | — | — | — | — | |
| SemiVLA-π0-FASTLabeled Dl=10%, Unlabeled Du=90%2026.06 | 92 | 94.2 | 92 | 93 | 88.7 | — | — | — | — | — | — | — | — | — | — | |
| SigLIP–GemmaStage 2 signal=Action only, Stage 1 init.=SigLIP–Gemma2026.06 | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SemiVLA-OpenVLA-OFTLabeled Dl=10%, Unlabeled Du=90%2026.06 | 91.2 | 93 | 91.5 | 92.6 | 87.5 | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=Action only, Stage 1 init.=w/ Distribution Bridging2026.06 | 90.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ MM+ETC, Stage 1 init.=w/ Distribution Bridging2026.06 | 90.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=Action only, Stage 1 init.=w/o Distribution Bridging2026.06 | 89.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SemiVLA-OpenVLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 89 | 92.4 | 89.5 | 91.8 | 82.3 | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.6-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 87.7 | 91.4 | 89.7 | 90.5 | 79 | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ ETC, Stage 1 init.=w/o Distribution Bridging2026.06 | 86.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ ETC, Stage 1 init.=w/ Distribution Bridging2026.06 | 86.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LARA-style AlignLabeled Dl=10%, Unlabeled Du=90%2026.06 | 86.3 | 90.3 | 87.9 | 89.5 | 77.6 | — | — | — | — | — | — | — | — | — | — | |
| π0-FAST-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 86.1 | 90.1 | 88.8 | 88.5 | 76.8 | — | — | — | — | — | — | — | — | — | — | |
| LAM-PseudoLabeled Dl=10%, Unlabeled Du=90%2026.06 | 85.7 | 89.8 | 87.3 | 88.8 | 77 | — | — | — | — | — | — | — | — | — | — | |
| FixMatch-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 85 | 89.4 | 86 | 88.2 | 76.5 | — | — | — | — | — | — | — | — | — | — | |
| MeanTeacher-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 84.6 | 89.1 | 85.2 | 87 | 77.1 | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFTLabeled Dl=10%, Unlabeled Du=02026.06 | 84.4 | 88.4 | 86.2 | 87.9 | 75 | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ MM, Stage 1 init.=w/ Distribution Bridging2026.06 | 83.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PseudoAction-VLALabeled Dl=10%, Unlabeled Du=90%2026.06 | 83.2 | 88 | 84 | 86.2 | 74.5 | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ MM+ETC, Stage 1 init.=w/o Distribution Bridging2026.06 | 82.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PaliGemma-VLAStage 2 signal=+ MM, Stage 1 init.=w/o Distribution Bridging2026.06 | 81.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 81 | 86.8 | 82.1 | 84.9 | 70.3 | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA Zero-shotLabeled Dl=0, Unlabeled Du=02026.06 | 69.8 | 80 | 69.6 | 74 | 55.5 | — | — | — | — | — | — | — | — | — | — | |
| Octo-FTLabeled Dl=10%, Unlabeled Du=02026.06 | 69.7 | 75.8 | 77.1 | 72.4 | 53.5 | — | — | — | — | — | — | — | — | — | — | |
| Naive PremovingSetting=Naive Premoving2026.05 | 66.4 | 68.3 | 64.6 | 56.6 | 76 | 27.4 | 32.3 | 34.8 | 43.6 | 34.5 | 15.5 | 19.6 | 16.8 | 32.2 | 21.6 |