Robotic Manipulation on LIBERO (Success Rate and RK Metrics)
98.8Spatial Success RateOurs
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Ours2025.07 | 98.8 | — | 99.8 | — | 97.6 | — | 95.6 | — | 98 | — | |
| CogVLA2025.08 | 98.6 | 1 | 98.8 | 1 | 96.6 | 2 | 95.4 | 1 | 97.4 | 1 | |
| π0.5-KI2025.08 | 98 | 2 | 97.8 | 5 | 95.6 | 4 | 85.8 | 5 | 94.3 | 4 | |
| OpenVLA-OFT2025.08 | 97.6 | 3 | 98.4 | 3 | 97.9 | 1 | 94.5 | 2 | 97.1 | 2 | |
| pi0-FPO2025.10 | 97.2 | 1 | 97.3 | 1 | 89.4 | 1 | 65.3 | 1 | 87.2 | 1 | |
| π0training=fine-tuned2025.08 | 96.8 | 4 | 98.8 | 1 | 95.8 | 3 | 85.2 | 6 | 94.2 | 6 | |
| π02025.07 | 96.8 | — | 98.8 | — | 95.8 | — | 85.2 | — | 94.2 | — | |
| π0-Fast2025.08 | 96.4 | 5 | 96.8 | 6 | 88.6 | 7 | 60.2 | 9 | 85.5 | 7 | |
| pi0-FAST2025.10 | 96.4 | — | 96.8 | — | 88.6 | — | 60.2 | — | 85.5 | — | |
| π0-FAST2025.07 | 96.4 | — | 96.8 | — | 88.6 | — | 60.2 | — | 85.5 | — | |
| OpenVLA-OFT2025.07 | 96.2 | — | 98.3 | — | 96.2 | — | 90.7 | — | 95.3 | — | |
| PD-VLAreproduced=true2025.08 | 95.5 | 6 | 96.7 | 7 | 94.9 | 6 | 91.7 | 3 | 94.7 | 3 | |
| STAR2025.08 | 95.5 | 6 | 98.3 | 4 | 95 | 5 | 88.5 | 4 | 94.3 | 4 | |
| VLA-RL2025.10 | 90.2 | 2 | 91.8 | 3 | 82.2 | 3 | 59.8 | 2 | 81 | 2.5 | |
| SpatialVLA2025.08 | 88.2 | 8 | 89.9 | 11 | 78.6 | 12 | 55.5 | 10 | 78.1 | 10 | |
| SpatialVLA2025.07 | 88.2 | — | 89.9 | — | 78.6 | — | 55.5 | — | 78.1 | — | |
| GRAPETraining Protocol=DPO2025.10 | 87.6 | 3 | 91.2 | 4 | 82.2 | 3 | 55.8 | 3 | 79.2 | 3.3 | |
| CoT-VLA2025.08 | 87.5 | 9 | 91.6 | 10 | 87.6 | 8 | 69 | 7 | 83.9 | 8 | |
| OpenVLA2025.08 | 84.7 | 10 | 88.4 | 12 | 79.2 | 11 | 53.7 | 11 | 76.5 | 11 | |
| OpenVLATraining Protocol=SFT2025.10 | 84.7 | 4 | 88.4 | 5 | 79.2 | 5 | 53.7 | 4 | 76.5 | 4.5 | |
| OpenVLA2025.07 | 84.7 | — | 88.4 | — | 79.2 | — | 53.7 | — | 76.5 | — | |
| TraceVLA2025.07 | 84.6 | — | 85.2 | — | 75.1 | — | 54.1 | — | 74.8 | — | |
| Dita2025.08 | 84.2 | 11 | 96.3 | 8 | 85.4 | 9 | 63.8 | 8 | 82.4 | 9 | |
| Octotraining=fine-tuned2025.08 | 78.9 | 12 | 85.7 | 13 | 84.6 | 10 | 51.1 | 12 | 75.1 | 12 | |
| OctoTraining Protocol=SFT2025.10 | 78.9 | 5 | 85.7 | 6 | 84.6 | 2 | 51.1 | 5 | 75.1 | 4.5 | |
| Octo2025.07 | 78.9 | — | 85.7 | — | 84.6 | — | 51.1 | — | 75.1 | — | |
| Diffusion Policy2025.08 | 78.3 | 13 | 92.5 | 9 | 68.3 | 13 | 50.5 | 13 | 72.4 | 13 | |
| Diffusion Policy2025.10 | 78.3 | 6 | 92.5 | 2 | 68.3 | 6 | 50.5 | 6 | 72.4 | 5 | |
| Diffusion Policy2025.07 | 78.3 | — | 92.5 | — | 68.3 | — | 50.5 | — | 72.4 | — |