Robotic Manipulation on LIBERO-Long
96.24Success RateFULLSOFT
Evaluation results
| Method | Links | |||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FULLSOFTReasoning Strategy=OpenVLA-family re-evaluation2026.05 | 96.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.497 | — | — | |
| VISUALTHINK-VLAReasoning Strategy=OpenVLA-family re-evaluation2026.05 | 95.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.421 | — | — | |
| DyGRO-VLA2026.05 | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepThinkVLA-RLReasoning Strategy=Reinforced or hybrid thinking-action decoding2026.05 | 95.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.202 | — | — | |
| UniVLA + EFNBase Model=UniVLA, Vol=10002025.10 | 94.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 242.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RLinf2026.05 | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RIPT-VLA2026.05 | 93.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLA + EFNBase Model=UniVLA, Vol=3002025.10 | 93.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 253.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolicyTrimModel=π0.52026.06 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | 2.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 171.8 | 10 | |
| PolicyTrimModel=OpenVLA-OFT2026.06 | 93.1 | — | — | — | — | — | — | — | — | — | — | — | 1.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 178.3 | 8 | |
| BaselineModel=π0.52026.06 | 93 | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 249.8 | 5 | |
| BaselineModel=OpenVLA-OFT2026.06 | 92.9 | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 249.3 | 8 | |
| GO-1 + EFNBase Model=GO-1, Vol=10002025.10 | 92.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 253.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLA (OXE)Pre-trained=OXE-scale2026.02 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLABase Model=UniVLA2025.10 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | — | 264.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GAM2026.05 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | |
| SimpleVLA-RL2026.05 | 91.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLA + R2ABase Model=UniVLA2025.10 | 91.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 257.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-1 + EFNBase Model=GO-1, Vol=3002025.10 | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 258.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVP-LAM2026.02 | 90.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| InternVLA-M1Reasoning Strategy=Spatial or image-grounded thinking2026.05 | 90.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.021 | — | — | |
| GO-1 + R2ABase Model=GO-12025.10 | 90.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 261.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLA + ResActBase Model=UniVLA2025.10 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 260.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-1Base Model=GO-12025.10 | 89.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 269.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolicyTrimModel=GR00T2026.06 | 89.2 | — | — | — | — | — | — | — | — | — | — | — | 2.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 165.9 | 10 | |
| UniVLA + GC-TTTBase Model=UniVLA2025.10 | 89.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 266.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-1 + GC-TTTBase Model=GO-12025.10 | 88.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | 267.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLIP-RT+AAFine-tuning protocol=Atomic Action Fine-tuning2025.12 | 88.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-1 + ResActBase Model=GO-12025.10 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 264.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniVLA + kNN-RAGBase Model=UniVLA2025.10 | 87.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 270.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEAST2026.05 | 86.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | — | — | — | — | |
| BaselineModel=GR00T2026.06 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 177.9 | 5 | |
| pi_0Additional wrist-view images and states=true2026.02 | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.05 | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3 | — | — | — | — | |
| GO-1 + kNN-RAGBase Model=GO-12025.10 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 274.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLIP-RT+Fine-tuning protocol=Baseline2025.12 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HELM (OpenVLA)Backbone=OpenVLA2026.04 | 81.5 | 89.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.2 | — | — | — | |
| UniVLA (Bridge)Pre-trained=Bridge V22026.02 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA + EFNBase Model=OpenVLA, Vol=10002025.10 | 76.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 261.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HELM-FwdBackbone=OpenVLA, Recovery Strategy=forward recovery2026.04 | 76.3 | 86.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.7 | — | — | — | |
| HELM (Octo)Backbone=Octo2026.04 | 72.8 | 83.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.3 | — | — | — | |
| OpenVLA + Oracle Mem.Backbone=OpenVLA, Memory Type=Oracle2026.04 | 72.4 | 83.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.5 | — | — | — | |
| OpenVLA + EFNBase Model=OpenVLA, Vol=3002025.10 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 267.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA + LoRA (50K)Backbone=OpenVLA, Fine-tuning/Adaptation Method=LoRA (50K)2026.04 | 69.3 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.2 | — | — | — | |
| OpenVLA + Ensemble (×5)Backbone=OpenVLA, Ensemble Size=52026.04 | 67.9 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.3 | — | — | — | |
| OpenVLA + Rule VerifierBackbone=OpenVLA, Verifier Type=Rule2026.04 | 65.2 | 79.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 19.8 | — | — | — | |
| OpenVLA H=32Backbone=OpenVLA, Context Horizon (H)=322026.04 | 63.8 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.7 | — | — | — | |
| Ours2025.10 | 63.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | |
| OpenVLA + R2ABase Model=OpenVLA2025.10 | 63.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 265.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA + ReflexionBackbone=OpenVLA, Verifier Type=Reflexion2026.04 | 63.1 | 77.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.4 | — | — | — | |
| π0-FAST2025.10 | 60.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-FAST2026.05 | 60.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4 | — | — | — | — | |
| VLA-RL2025.10 | 59.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | — | — | — | — | |
| VLA-RL2026.05 | 59.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TGRPO2026.05 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PDFPub.=-, Param.=9M2026.04 | 59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1 | — | — | — | — | |
| OpenVLA + ResActBase Model=OpenVLA2025.10 | 58.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 271.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLABackbone=OpenVLA2026.04 | 58.4 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 12.3 | — | — | — | |
| World-Env2026.05 | 57.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GRAPE2026.05 | 57.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA + GC-TTTBase Model=OpenVLA2025.10 | 55.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | 277.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GRAPETraining Protocol=DPO2025.10 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3 | — | — | — | — | |
| SpatialVLA2026.05 | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5 | — | — | — | — | |
| SFT-4LIBEROPub.=Arxiv’25, Param.=130M2026.04 | 55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3 | — | — | — | — | |
| MG-SelectPub.=Arxiv’25, Param.=130M2026.04 | 55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2 | — | — | — | — | |
| BASEVLAReasoning Strategy=OpenVLA-family re-evaluation2026.05 | 54.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.302 | — | — | |
| TraceVLAPub.=ICLR’25, Param.=130M2026.04 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4 | — | — | — | — | |
| OpenVLA2026.02 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FP ModelType=Stat., Prec.=BF16, Spd.=1.00×, Mem. (GB)=15.22026.03 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLATraining Protocol=SFT2025.10 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4 | — | — | — | — | |
| OpenVLABase Model=OpenVLA2025.10 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 275.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA2026.05 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | — | — | — | — | |
| DyQ-VLAType=Dyn., Prec.=W4AX, Spd.=1.49×, Mem. (GB)=4.72026.03 | 53.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpatialVLAReasoning Strategy=Spatial or image-grounded thinking2026.05 | 53.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.498 | — | — | |
| QVLAType=Stat., Prec.=W4A4, Spd.=1.42×, Mem. (GB)=4.32026.03 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLAPub.=CoRL’24, Param.=-, Reproduced status (†)=true2026.04 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | — | — | — | — | |
| OpenVLA-DPOPub.=Arxiv’25, Param.=130M2026.04 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5 | — | — | — | — | |
| TraceVLAReasoning Strategy=Spatial or image-grounded thinking2026.05 | 52.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.44 | — | — | |
| OctoBackbone=Octo2026.04 | 51.2 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.8 | — | — | — | |
| OctoTraining Protocol=SFT2025.10 | 51.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5 | — | — | — | — | |
| Octo2026.05 | 51.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | — | — | — | — | |
| OpenVLAPub.=CoRL’24, Param.=-2026.04 | 51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | — | — | — | — | |
| DPPub.=IJRR’25, Param.=-2026.04 | 51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8 | — | — | — | — | |
| OCTOPub.=RSS’24, Param.=93M2026.04 | 51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | — | — | — | — | |
| Diffusion Policy2025.10 | 50.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | — | — | — | — | |
| Naive VLA+SDHardware=GPU2026.03 | 50.2 | — | — | — | — | — | — | — | — | — | — | — | 1 | 1.67 | 400.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA + kNN-RAGBase Model=OpenVLA2025.10 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 282.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpecVLAAcceptance Threshold (r)=9, Hardware=GPU2026.03 | 49.2 | — | — | — | — | — | — | — | — | — | — | — | 1.12 | 2.82 | 408.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KERVHardware=CPU+GPU2026.03 | 48.8 | — | — | — | — | — | — | — | — | — | — | — | 1.48 | 4.64 | 391.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MTLPub.=NeurIPS’23, Param.=-2026.04 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9 | — | — | — | — | |
| SmoothQuantType=Stat., Prec.=W4A4, Spd.=1.47×, Mem. (GB)=4.72026.03 | 40.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ATMPub.=RSS’23, Param.=-2026.04 | 39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10 | — | — | — | — | |
| SpecVLAAcceptance Threshold (r)=15, Hardware=GPU2026.03 | 36.2 | — | — | — | — | — | — | — | — | — | — | — | 1.13 | 3.63 | 439.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ERPub.=Arxiv’19, Param.=-2026.04 | 32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11 | — | — | — | — | |
| SpecVLAAcceptance Threshold (r)=20, Hardware=GPU2026.03 | 25.8 | — | — | — | — | — | — | — | — | — | — | — | 1.1 | 4.13 | 464.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PackNetPub.=CVPR’18, Param.=-2026.04 | 25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 12 | — | — | — | — | |
| SeqLPub.=NeurIPS’23, Param.=-2026.04 | 15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13 | — | — | — | — | |
| CLaDParameters=0.66B, Evaluation Protocol=Average over 20 rollouts from the top 3 checkpoints2026.03 | — | 94.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 100 | 100 | 98.3 | 93.7 | 92 | 100 | 94.3 | 100 | 81.7 | 85 | — | — | — | — | — | — | |
| CLaDParameters=0.66B, Evaluation Protocol=Average over 50 rollouts with a single checkpoint2026.03 | — | 94.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 100 | 100 | 98 | 94 | 91 | 100 | 95 | 100 | 82 | 87 | — | — | — | — | — | — | |
| CLaD2026.03 | — | 94.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |