Robotic Manipulation on LIBERO Object (Obj/Pos/Sem Success)
95.5Object Success RateS2
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| S2Planner VLM=GPT-5.4 nano2026.06 | 95.5 | 63.5 | 100 | 24 | |
| X-VLA2026.06 | 91.5 | 4.5 | 98 | 0 | |
| S2Planner VLM=Kimi K2.52026.06 | 90 | 62.5 | 100 | 29.5 | |
| VLA-Adapter2026.06 | 89 | 0 | 99 | 8 | |
| π0.52026.06 | 89 | 19 | 95 | 10 | |
| OpenVLA-OFT2026.06 | 66.5 | 9.5 | 89 | 0 |