Robotic Manipulation on LIBERO Spatial Pro (test)
100Success Rate (w=0.3)VLA-Adapter
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| VLA-AdapterJoint=J0 (Base)2026.05 | 100 | 100 | 97.5 | 100 | — | |
| VLA-AdapterJoint=J5 (Wrist)2026.05 | 100 | 95 | 65 | 67.5 | — | |
| VLA-AdapterJoint=J6 (Hand)2026.05 | 100 | 97.5 | 90 | 72.5 | — | |
| VLA-AdapterJoint=J4 (Forearm)2026.05 | 97.5 | 97.5 | 97.5 | 97.5 | — | |
| Health-Conditioned VLAJoint=J4 (Forearm)2026.05 | 97 | 90 | 95 | 89 | — | |
| Health-Conditioned VLAJoint=J2 (Upperarm)2026.05 | 96 | 94 | 85 | 83 | — | |
| VLA-AdapterJoint=J2 (Upperarm)2026.05 | 95 | 97.5 | 87.5 | 72.5 | — | |
| Health-Conditioned VLAJoint=J0 (Base)2026.05 | 91 | 86 | 72 | 71 | — | |
| Health-Conditioned VLAJoint=J5 (Wrist)2026.05 | 90 | 86 | 82 | 79 | — | |
| Health-Conditioned VLAJoint=J1 (Shoulder)2026.05 | 89 | 22 | 2 | 0 | — | |
| Health-Conditioned VLAJoint=J6 (Hand)2026.05 | 71 | 78 | 79 | 82 | — | |
| VLA-AdapterJoint=J1 (Shoulder)2026.05 | 45 | 15 | 0 | 0 | — | |
| VLA-AdapterJoint=J3 (Elbow)2026.05 | 42.5 | 0 | 0 | 0 | — | |
| Health-Conditioned VLAJoint=J3 (Elbow)2026.05 | 39 | 34 | 3 | 0 | — | |
| Health-Conditioned VLAJoint=Healthy baseline2026.05 | — | — | — | — | 99 | |
| VLA-AdapterJoint=Healthy baseline2026.05 | — | — | — | — | 97.5 |