Robotic Manipulation on LIBERO In-distribution
98.6Spatial Achievement RateCapVector
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CapVectorProgress=1 Epoch2026.05 | 98.6 | 99.8 | 97.6 | 90 | 96.5 | |
| Spatial ForcingProgress=1 Epoch2026.05 | 98.4 | 99.6 | 97.8 | 84.8 | 95.2 | |
| CapVector w/o orthogonal lossProgress=1 Epoch2026.05 | 98.4 | 100 | 98 | 86 | 95.6 | |
| CapVectorProgress=150k Steps2026.05 | 98.4 | 98.4 | 96.8 | 94.8 | 97.1 | |
| CapVectorProgress=5k Steps2026.05 | 98 | 99.2 | 96.6 | 73 | 91.7 | |
| CapVectorProgress=8 Epochs2026.05 | 98 | 98 | 96.8 | 93.6 | 96.6 | |
| CapVector w/o orthogonal lossProgress=8 Epochs2026.05 | 97.6 | 97.8 | 96.6 | 92.2 | 96.1 | |
| CapVector w/o orthogonal lossProgress=150k Steps2026.05 | 97.4 | 99 | 97.2 | 91.2 | 96.2 | |
| Spatial ForcingProgress=150k Steps2026.05 | 97.2 | 99.2 | 96.8 | 94.2 | 96.9 | |
| OpenVLA-OFTProgress=1 Epoch2026.05 | 97 | 99.8 | 96.4 | 70.4 | 90.9 | |
| OpenVLA-OFTProgress=150k Steps2026.05 | 96.8 | 94.8 | 92.8 | 86.2 | 92.7 | |
| CapVector w/o orthogonal lossProgress=5k Steps2026.05 | 96 | 99 | 97.4 | 68 | 90.1 | |
| Spatial ForcingProgress=5k Steps2026.05 | 93.8 | 94.8 | 94.6 | 66.6 | 87.5 | |
| Spatial ForcingProgress=8 Epochs2026.05 | 93 | 98.2 | 98.4 | 87.2 | 94.2 | |
| OpenVLA-OFTProgress=8 Epochs2026.05 | 92.8 | 98.2 | 97.8 | 87 | 93.9 | |
| OpenVLA-OFTProgress=5k Steps2026.05 | 87 | 99.8 | 92.8 | 48.8 | 82.1 |