Robotic Manipulation on LIBERO Spatial
98.3Average Success RateOurs-OV
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Ours-OVPerturbation Type=Agent Camera2026.03 | 98.3 | 99 | 98.4 | 97.4 | — | |
| OpenVLA2026.03 | 98.2 | — | — | — | — | |
| pi_0.52026.03 | 97.6 | — | — | — | — | |
| Ours-πPerturbation Type=Agent Camera2026.03 | 97.4 | 98.8 | 96.4 | 97 | — | |
| CLaD2026.03 | 97.3 | — | — | — | — | |
| pi_02026.03 | 97.2 | — | — | — | — | |
| UniVLA2026.03 | 96.5 | — | — | — | — | |
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=30k2026.03 | 95.5 | — | — | — | 9.6 | |
| π*0.5Perturbation Type=Agent Camera2026.03 | 94.4 | 93.6 | 95.4 | 94.2 | — | |
| OpenVLA-OFTPerturbation Type=Agent Camera2026.03 | 93.9 | 98.2 | 92.4 | 91 | — | |
| Base ModelGaze Regularization=Disabled, Steps=30k2026.03 | 85.9 | — | — | — | — | |
| GeoAwareVLAPerturbation Type=Agent Camera2026.03 | 79.7 | 76.6 | 84.2 | 78.2 | — | |
| π0.5Perturbation Type=Agent Camera2026.03 | 77.3 | 97.6 | 86 | 48.2 | — | |
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=20k2026.03 | 70.2 | — | — | — | 7.6 | |
| Base ModelGaze Regularization=Disabled, Steps=20k2026.03 | 62.6 | — | — | — | — | |
| Gaze-Regularized VLAGaze Regularization=Enabled, Steps=10k2026.03 | 59.3 | — | — | — | 6.1 | |
| Base ModelGaze Regularization=Disabled, Steps=10k2026.03 | 53.2 | — | — | — | — |