Robotic Manipulation on LIBERO-Plus
99Language Understanding ScoreOpenVLA-OFT
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OpenVLA-OFTSuite=Object2026.02 | 99 | 3,890 | 25.4 | 73.7 | 97.6 | 72.3 | 71.8 | 66.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kairos-jointArchitecture=WAM, joint_denoising=true2026.06 | 95.3 | 95.9 | 74.6 | 97.1 | 97.1 | 95.4 | 83.8 | 90.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ProGAL-VLA2026.04 | 93.6 | 93.2 | 71.5 | 86.8 | 92.3 | 74.8 | 86.7 | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ProGAL-VLAArchitecture=VLA2026.06 | 93.6 | 93.2 | 71.5 | 86.8 | 92.3 | 74.8 | 86.7 | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoVLAPretrained=No, Fine-tuning dataset=LIBERO2026.05 | 92.9 | 58.4 | 36.3 | 95.6 | 95 | 80.9 | 73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.3 | |
| RoVLAPretrained=No, Fine-tuning dataset=LIBERO-Plus2026.05 | 91.5 | 96.6 | 32 | 95.9 | 96.1 | 95.1 | 74.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82 | |
| Afford-VLA2026.05 | 91.5 | 56 | 56.8 | 96.8 | 97 | 80.9 | 78.9 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoVLAArchitecture=VLA2026.06 | 91.5 | 96.6 | 32 | 95.9 | 96.1 | 95.1 | 74.1 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ImageWAMBackbone=FLUX.2 4B, Pre-trained=false2026.06 | 91.4 | 80.8 | 50.3 | 98.1 | 85.5 | 93.8 | 80.5 | 83.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ImageWAMZero-shot=true2026.07 | 91.4 | 80.8 | 50.3 | 98.1 | 85.5 | 93.8 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.1 | |
| FutureVLA-OTModel Style=OFT-style2026.03 | 90 | 50.4 | 68.8 | 97.9 | 95.4 | 72.6 | 83.9 | 78.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Guidance=Linguistics2026.05 | 89.9 | 71.2 | 77.1 | 94.7 | 94 | 84.2 | 84.3 | 84.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PRTSZero-shot=true, Batch size=32, Post-training steps=30K2026.04 | 89.6 | 59.5 | 72.4 | 96.5 | 96.7 | 81.3 | 83.3 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos Policyevaluation_mode=zero-shot2026.06 | 89.6 | 69.6 | 51 | 97.7 | 85.7 | 87.3 | 83.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.7 | |
| VLA-GSEzero-shot=true2026.05 | 88.8 | 64.4 | 68.5 | 97.3 | 97.3 | 79.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.2 | |
| MemoryVLA++Setting=Zero-Shot Setting2026.06 | 88.7 | 36.4 | 68.9 | 93.8 | 90.6 | 63.5 | 83.8 | 73.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5+3DVLAGuidance=Linguistics2026.05 | 88.6 | 75.6 | 77.4 | 97.4 | 97.7 | 85.3 | 86.6 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M0.5Zero-shot=true2026.07 | 88.6 | 70.5 | 87.4 | 94 | 89.7 | 75.5 | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.4 | |
| VLANeXtSuite=Long2026.02 | 88.5 | 4,770 | 51.9 | 84.7 | 92 | 77.5 | 78.8 | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ResVLAEvaluation Protocol=Generalization2026.04 | 88.5 | 49.8 | 59.9 | 90.5 | 94.9 | 76.8 | 79 | 96.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.3 | |
| π0.5Zero-shot=true, Batch size=256, Post-training steps=30K2026.04 | 88.5 | 64 | 58 | 96.6 | 81.4 | 87.5 | 85.9 | 80.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StarVLA2026.07 | 88.5 | 52.5 | 49.8 | 95.7 | 95.7 | 73 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.1 | |
| FutureVLA-GTModel Style=GR00T-style2026.03 | 88.2 | 59.7 | 66 | 97.4 | 97.8 | 77.3 | 82.6 | 79.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLA-JEPAMode=Zero-shot2026.05 | 88.1 | 64.2 | — | 91.8 | 93.4 | 65.8 | 83.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.9 | |
| Embodied-R1.5-VLA2026.06 | 88 | 53.2 | 54.1 | 94.9 | 93.9 | 80.6 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76 | |
| ACoT-VLAZero-shot=true2026.07 | 87.5 | 72.6 | 82.6 | 97.7 | 96.5 | 87.8 | 88.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.6 | |
| ACoTZero-shot=true, Category=VLA-based2026.06 | 87.5 | 72.6 | 82.6 | 97.7 | 96.5 | 87.8 | 88.1 | 86.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| World Pilotevaluation_mode=zero-shot2026.06 | 87.2 | 82.8 | 60.6 | 98.6 | 96.4 | 93.6 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84.7 | |
| World PilotZero-shot=true, Category=WAM-based2026.06 | 87.2 | 82.8 | 60.6 | 98.6 | 96.4 | 93.6 | 80.5 | 84.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ERVLAevaluation_mode=zero-shot direct transfer, post-training=LIBERO2026.06 | 87.1 | 77.2 | 75.3 | 95.1 | 94.7 | 92.3 | 86.4 | — | — | — | — | — | — | — | 96.2 | — | 89.6 | — | 79.6 | — | 82.1 | — | — | 86.9 | |
| OpenVLA-OFTSuite=Long2026.02 | 87 | 3,870 | 38.2 | 89.4 | 86.8 | 63.5 | 76.9 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Qwen3-VL-OFTEvaluation Protocol=Zero-shot2026.06 | 87 | 47 | 60.1 | 96.3 | 95.3 | 73.1 | 79.2 | 75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| InternVLA-A1.5mode=zero-shot2026.07 | 86.9 | 83.1 | 55.1 | 96.4 | 98.2 | 95.6 | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84.8 | |
| StarVLA-αTraining Paradigm=Specialist2026.04 | 86.8 | 48.7 | 63.4 | 95.8 | 94.6 | 75 | 80.2 | 77.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KairosArchitecture=WAM2026.06 | 86.8 | 95.5 | 72.6 | 97.7 | 95.8 | 96.8 | 81.5 | 89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLANeXtSuite=Spatial2026.02 | 86.7 | 9,440 | 83.4 | 99.3 | 98.4 | 98 | 92.2 | 92.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CKT-WAMMode=Zero-shot2026.05 | 86.7 | 77.4 | — | 98.2 | 90.2 | 94.8 | 88.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.1 | |
| CKT-WAMZero-shot=true, Category=WAM-based2026.06 | 86.7 | 77.4 | 71.4 | 98.2 | 90.2 | 94.8 | 88.5 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Qwen-RobotManip-ContextZero-shot=true2026.07 | 86.5 | 89.9 | 83.9 | 98.6 | 99.9 | 97.9 | 87.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.4 | |
| ABot-M0zero-shot=true2026.05 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| ABot-M0Mode=Zero-shot2026.05 | 86.4 | 60.4 | — | 96.2 | 91.6 | 86.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| ABot-M0Evaluation Protocol=Zero-shot2026.06 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M0evaluation_mode=zero-shot2026.06 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| ABot-M0Architecture=VLA2026.06 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M0Zero-shot=true2026.07 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| Abot-M02026.07 | 86.4 | 60.4 | 67.9 | 96.2 | 91.6 | 86.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.5 | |
| StarVLA-αTraining Paradigm=Generalist2026.04 | 86.2 | 52.5 | 64.3 | 97.8 | 98.1 | 80.2 | 79.1 | 79.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5evaluation_mode=zero-shot direct transfer, post-training=LIBERO2026.06 | 85.9 | 71.7 | 75.5 | 96.1 | 95.7 | 86.4 | 87.5 | — | — | — | — | — | — | — | 90.4 | — | 89.9 | — | 81 | — | 80.8 | — | — | 85.5 | |
| OpenVLA-OFT+Guidance=Linguistics2026.01 | 85.8 | 9,280 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT (plus)variant=plus2026.03 | 85.8 | 92.8 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT+2026.04 | 85.8 | 92.8 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFTPretrained=Yes, Fine-tuning dataset=LIBERO-Plus2026.05 | 85.8 | 92.8 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.5 | |
| OpenVLA-OFTSetting=Supervised Fine-Tuning Setting2026.06 | 85.8 | 92.8 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFTArchitecture=VLA2026.06 | 85.8 | 92.8 | 30.3 | 94.9 | 93.9 | 89.3 | 77.6 | 79.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Mode=Zero-shot2026.05 | 85.6 | 75.4 | — | 96.9 | 94.6 | 89.7 | 85.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.7 | |
| Qwen-RobotManipZero-shot=true2026.07 | 85.6 | 87.2 | 75.5 | 96.6 | 97.7 | 97.7 | 87.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89 | |
| VLA-JEPA2026.02 | 85.4 | 63.3 | 67.1 | 95.6 | 93.6 | 66.3 | 85.1 | 79.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLA-JEPAZero-shot=true2026.07 | 85.4 | 63.3 | 67.1 | 95.6 | 93.6 | 66.3 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.5 | |
| OA-WAMZero-shot=true, Category=WAM-based2026.06 | 85.3 | 80.5 | 89.6 | 96.5 | 95.9 | 75.6 | 82.8 | 83.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PokeVLAevaluation_mode=zero-shot direct transfer, post-training=LIBERO2026.06 | 84.8 | 84.7 | 46.1 | 94.6 | 82.6 | 89.8 | 77.2 | — | — | — | — | — | — | — | 85.4 | — | 81.8 | — | 77.6 | — | 72.7 | — | — | 79.3 | |
| Choice + No Knowledge Truncationevaluation_mode=zero-shot direct transfer, post-training=LIBERO, ablation_mode=DiT accesses CoT+choice cache2026.06 | 84.6 | 70.8 | 73.4 | 94.2 | 94.4 | 85.6 | 86.2 | — | — | — | — | — | — | — | 89.2 | — | 88.6 | — | 79.4 | — | 79.8 | — | — | 84.7 | |
| iFLYTEK-Embodied-OmniZero-shot=true, Category=WAM-based2026.06 | 84.6 | 84.8 | 85.5 | 98.4 | 94.3 | 92.4 | 91.2 | 89.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepThinkVLAZero-shot=true, No adaptation=true, Backbone=π0-FAST2025.10 | 84.5 | 88.5 | 40.5 | 90 | 75.3 | 94.4 | 79.9 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MemoryVLASetting=Zero-Shot Setting2026.06 | 84.4 | 42.7 | 44.9 | 92.8 | 95 | 62.1 | 84.7 | 70.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TTPZero-shot=true2026.07 | 84.3 | 48.9 | 49.5 | 94.6 | 87.1 | 81.8 | 83.6 | 75.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLANeXtSuite=Object2026.02 | 84.2 | 7,320 | 67.8 | 98.3 | 94.8 | 92.2 | 73 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CAC-VLAGuidance=Action, Evaluation Protocol=Zero-Shot Transfer2026.07 | 83.8 | 68.4 | 83.6 | 96.8 | 92.4 | 80 | 88.7 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT2026.03 | 83.6 | — | 30.6 | 91.6 | 83.6 | — | 73.2 | 70.6 | 14 | 67 | 14 | 24.4 | 6 | 27 | — | — | — | — | — | — | — | — | — | — | |
| π0.5Architecture=VLA2026.06 | 83.3 | 75.8 | 79.4 | 95.5 | 95 | 89.6 | 87 | 85.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Zero-shot=true, Category=VLA-based2026.06 | 83.3 | 75.8 | 79.4 | 95.5 | 95 | 89.6 | 87 | 85.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CAC-VLAGuidance=Action, Evaluation Protocol=Supervised Fine-Tuning2026.07 | 83.3 | 91.2 | 78.4 | 97.5 | 97.1 | 95.4 | 87.8 | 89.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TTP w/o pre-trainingZero-shot=true2026.07 | 83.2 | 48.6 | 43.9 | 93.9 | 85.4 | 76.8 | 82.1 | 73.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.52026.03 | 83 | 64.8 | 71.8 | 93.5 | 92.2 | 78.8 | 85.5 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi0.5*Guidance=Linguistics, Evaluation Protocol=Zero-Shot Transfer2026.07 | 82.9 | 64.2 | 81 | 95.5 | 92.1 | 75 | 87.4 | 81.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PROBEACT2026.06 | 82 | 63.8 | 40.3 | 93.6 | 93.5 | 76.8 | 80.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.1 | |
| Qwen3-VL-PIZero-shot=true, Batch size=32, Post-training steps=30K2026.04 | 81.8 | 43.6 | 46.6 | 88.4 | 89.4 | 70.1 | 74.7 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLANeXtArchitecture=VLA2026.06 | 81.8 | 90.4 | 65.7 | 95.9 | 82.5 | 94.1 | 80.8 | 83.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BeingH-0.5Zero-shot=true2026.07 | 81.8 | 46.8 | 41.2 | 87 | 86.8 | 82.2 | 76 | 71.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos-PolicyMode=Zero-shot2026.05 | 81.7 | 75.8 | — | 96.5 | 88.9 | 92.7 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.2 | |
| Cosmos-PolicyZero-shot=true2026.07 | 81.7 | 75.8 | 63.3 | 96.5 | 88.9 | 92.7 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.2 | |
| Cosmos-PolicyZero-shot=true, Category=WAM-based2026.06 | 81.7 | 75.8 | 63.3 | 96.5 | 88.9 | 92.7 | 82.2 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos-Policy2026.07 | 81.7 | 75.8 | 63.3 | 96.5 | 88.9 | 92.7 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.2 | |
| π0.5 + TAG-blackstrategy=TAG-black, baseline=π0.52026.03 | 81.5 | 77.5 | 80.5 | 98 | 97.2 | 89 | 87 | 87.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepThinkVLAZero-shot=true, No adaptation=true, Backbone=Qwen3-VL2025.10 | 81.5 | 63.7 | 38.8 | 94.7 | 92.4 | 89.8 | 77.8 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFTadaptation=OFT2026.05 | 81.5 | 59.7 | 37.2 | 85.8 | 92.4 | 76.7 | 77.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLANeXtSuite=Average2026.02 | 81.4 | 7,160 | 63.4 | 93.7 | 91.8 | 89.5 | 77.7 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLANeXtzero-shot=true2026.05 | 81.4 | 71.6 | 63.4 | 93.7 | 91.8 | 89.5 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.1 | |
| VLANeXtMode=Zero-shot2026.05 | 81.4 | 71.6 | — | 93.7 | 91.8 | 89.5 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.1 | |
| ABot-M0Zero-shot=true, Batch size=32, Post-training steps=30K2026.04 | 81.2 | 65.7 | 53.1 | 96.8 | 95 | 87.5 | 81.3 | 78.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Guidance=Linguistics, reproduced=true2026.01 | 81.1 | 7,030 | 41.7 | 97.3 | 94.6 | 71.8 | 84.9 | 75.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Pretrained=Yes, Fine-tuning dataset=LIBERO-Plus2026.05 | 81.1 | 70.3 | 41.7 | 97.3 | 94.6 | 71.8 | 84.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.7 | |
| OpenVLA-OFT (m)variant=m2026.03 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT_m2026.04 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 68.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT_mZero-shot=true, No adaptation=true, variant=mixed-data variant2025.10 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT mEvaluation Protocol=Generalization, Variant suffix=m2026.04 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 97.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.9 | |
| OpenVLA-OFT_mPretrained=Yes, Fine-tuning dataset=LIBERO2026.05 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.9 | |
| OpenVLA-OFT_mVariant=m2026.05 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| No Choice + Knowledge Insulationevaluation_mode=zero-shot direct transfer, post-training=LIBERO, ablation_mode=ThinkAct-style planning and action separation2026.06 | 81 | 80.4 | 43.8 | 91.6 | 79.2 | 85.4 | 74.6 | — | — | — | — | — | — | — | 83.8 | — | 78.6 | — | 71.4 | — | 69 | — | — | 76.5 | |
| OpenVLA-OFTSetting=Zero-Shot Setting2026.06 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA2026.06 | 81 | 55.6 | 21.7 | 92.7 | 91 | 78.6 | 68.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.9 |