Robotic Manipulation on HEAR-Bench (simulation)
91Alarm Clock Success RateHEAR
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| HEARVLA=Yes2026.03 | 91 | 89 | 83 | 51 | 81 | 85 | 88 | 81 | |
| π0.5-WaveformVLA=Yes2026.03 | 80 | 73 | 71 | 31 | 43 | 52 | 75 | 61 | |
| OpenVLA-WaveformVLA=Yes2026.03 | 71 | 60 | 63 | 26 | 37 | 45 | 69 | 53 | |
| Play it by EarVLA=No2026.03 | 45 | 38 | 39 | 15 | 10 | 12 | 38 | 28 | |
| ManiWAVVLA=No2026.03 | 40 | 31 | 41 | 12 | 17 | 8 | 32 | 26 | |
| π0.5-ASRVLA=Yes2026.03 | 21 | 70 | 15 | 9 | 4 | 52 | 74 | 35 | |
| OpenVLA-ASRVLA=Yes2026.03 | 16 | 59 | 10 | 6 | 3 | 41 | 65 | 29 | |
| OpenVLAVLA=Yes2026.03 | 0 | 33 | 31 | 0 | 0 | 0 | 3 | 10 | |
| π0.5VLA=Yes2026.03 | 0 | 48 | 43 | 0 | 0 | 0 | 9 | 14 |