ResearchBenchmarksRobotic Control Inference BenchmarkRobotic Control Inference BenchmarkFollow90Inference Time (ms)π0-866.45,589.312,04518,500.7Nov 11, 2025Evaluation resultsMethodMethodLinksInference Time (ms)π0Model Size=3.3B, Actio...Model Size=3.3B, Action Steps=162025.1190OpenVLAModel Size=7B, Action...Model Size=7B, Action Steps=12025.11190LAPAModel Size=7B, Action...Model Size=7B, Action Steps=12025.11220UVAModel Size=0.5B, Actio...Model Size=0.5B, Action Steps=162025.11230ViPRA (ViPRA-FM)Model Size=7B, Action...Model Size=7B, Action Steps=142025.11510UniPIAction Steps=16Action Steps=162025.1124,000