Robotic Manipulation (Goal) on LIBERO-Goal 1.0 (test)
96SRAutoHorizon
Evaluation results
| Method | Links | ||
|---|---|---|---|
| AutoHorizonBackbone=GR00T N1.52026.02 | 96 | — | |
| Static OracleExecution Horizon (e)=8, Backbone=GR00T N1.52026.02 | 94.7 | — | |
| Static Oracle+Backbone=GR00T N1.52026.02 | 94.7 | — | |
| RandomBackbone=GR00T N1.52026.02 | 92 | — | |
| Static OracleExecution Horizon (e)=4, Backbone=GR00T N1.52026.02 | 90.7 | — | |
| Static OracleExecution Horizon (e)=16, Backbone=GR00T N1.52026.02 | 90.7 | — | |
| Static OracleExecution Horizon (e)=12, Backbone=GR00T N1.52026.02 | 90 | — | |
| Static OracleExecution Horizon (e)=1, Backbone=GR00T N1.52026.02 | 82.7 | — | |
| Static OracleExecution Horizon (e)=2, Backbone=GR00T N1.52026.02 | 82 | — | |
| State BackdoorVLA Model=OpenVLA2026.01 | 0.882 | 89.4 | |
| TrojanRobotVLA Model=SmolVLA2026.01 | 0.881 | 84.3 | |
| State BackdoorVLA Model=SmolVLA2026.01 | 0.88 | 85.6 | |
| NoneVLA Model=ACT2026.01 | 0.875 | — | |
| BadVLAVLA Model=DP2026.01 | 0.874 | 89.1 | |
| NoneVLA Model=DP2026.01 | 0.873 | — | |
| State BackdoorVLA Model=ACT2026.01 | 0.864 | 86.3 | |
| BadVLAVLA Model=OpenVLA2026.01 | 0.864 | 88.5 | |
| TrojanRobotVLA Model=OpenVLA2026.01 | 0.863 | 88.4 | |
| BadVLAVLA Model=SmolVLA2026.01 | 0.862 | 86.8 | |
| NoneVLA Model=π02026.01 | 0.862 | — | |
| NoneVLA Model=SmolVLA2026.01 | 0.855 | — | |
| State BackdoorVLA Model=DP2026.01 | 0.852 | 84.8 | |
| TrojanRobotVLA Model=ACT2026.01 | 0.851 | 88.2 | |
| NoneVLA Model=OpenVLA2026.01 | 0.848 | — | |
| TrojanRobotVLA Model=DP2026.01 | 0.846 | 85.4 | |
| BadVLAVLA Model=π02026.01 | 0.845 | 87.3 | |
| TrojanRobotVLA Model=π02026.01 | 0.844 | 83.5 | |
| BadVLAVLA Model=ACT2026.01 | 0.837 | 85.4 | |
| State BackdoorVLA Model=π02026.01 | 0.833 | 89.2 |