Robotic Manipulation on LIBERO Mem
85B→P Success RatePathway 1 only
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Pathway 1 onlyBackbone=VPP, Backbone Architecture=SVD UNet, Number of Parameters=1.5B, Memory Configuration=Pathway 1 only2026.06 | 85 | 40 | 35 | 10 | 15 | 0 | 5 | 0 | 30 | 65 | 28.5 | |
| MemoryVAM (UNet)Backbone=VPP, Backbone Architecture=SVD UNet, Number of Parameters=1.5B, Memory Injection Method=UNet2026.06 | 85 | 65 | 90 | 10 | 35 | 0 | 25 | 5 | 40 | 70 | 42.5 | |
| Gated Memory PolicyMemory Configuration=memory-augmented2026.06 | 85 | 45 | 20 | 5 | 40 | 0 | 0 | 0 | 0 | 0 | 19.5 | |
| MemoryVAM (DiT)Backbone=Cosmos-RF, Backbone Architecture=rectified-flow, Number of Parameters=2B, Memory Injection Method=DiT2026.06 | 75 | 65 | 65 | 15 | 55 | 35 | 10 | 10 | 25 | 50 | 40.5 | |
| MemoryVLAMemory Configuration=memory-augmented2026.06 | 55 | 0 | 35 | 0 | 5 | 0 | 0 | 0 | 0 | 0 | 9.5 | |
| π0Memory Configuration=no memory2026.06 | 50 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 5 | |
| SlotVLA_h=8Memory Configuration=memory-augmented2026.06 | 50 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 5 | |
| E-SlotSSMMemory Configuration=memory-augmented2026.06 | 50 | 0 | 35 | 0 | 15 | 0 | 0 | 0 | 30 | 20 | 15 | |
| Pathway 2 onlyBackbone=VPP, Backbone Architecture=SVD UNet, Number of Parameters=1.5B, Memory Configuration=Pathway 2 only2026.06 | 45 | 10 | 5 | 0 | 5 | 5 | 0 | 0 | 5 | 0 | 7.5 | |
| No memoryBackbone=VPP, Backbone Architecture=SVD UNet, Number of Parameters=1.5B, Memory Configuration=No memory2026.06 | 30 | 10 | 10 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 5 | |
| No memoryBackbone=Cosmos-RF, Backbone Architecture=rectified-flow, Number of Parameters=2B, Memory Configuration=No memory2026.06 | 0 | 5 | 0 | 0 | 0 | 0 | 0 | 0 | 15 | 10 | 3 | |
| SlotVLAMemory Configuration=no memory2026.06 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |