Robotic Manipulation on LIBERO (test)
100Object Success RateFastWAM
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| FastWAMType=WAM2026.06 | 100 | 98.2 | 97 | — | 95.2 | 97.6 | |
| MaskWAMType=WAM2026.06 | 100 | 98.8 | 98.2 | — | 96.4 | 98.4 | |
| WorldBagelMulti-task=true, World Model=true2026.07 | 99.9 | 99.2 | 97.5 | — | 95.3 | 98 | |
| PriorVLA2026.05 | 99.8 | 99.4 | 99.4 | — | 97.6 | 99.1 | |
| MotusType=WAM2026.06 | 99.8 | 96.8 | 96.6 | — | 97.6 | 97.7 | |
| MaskWAM (Mask-only)Type=WAM, prediction_mode=Mask-only2026.06 | 99.8 | 97.2 | 97.4 | — | 96 | 97.6 | |
| RynnVLA-002Multi-task=false, World Model=true2026.07 | 99.8 | 99 | 96.4 | — | 94.4 | 97.4 | |
| AVA-VLAPolicy scope=One policy per suite2025.11 | 99.6 | 99.2 | 97.9 | — | 96.2 | 98.2 | |
| MaskWAM (RGB-only)Type=WAM, prediction_mode=RGB-only2026.06 | 99.6 | 96.8 | 97 | — | 95.8 | 97.3 | |
| HiMoE-VLA2025.12 | 99.4 | 98.2 | 98.6 | — | 94.8 | 97.8 | |
| AVA-VLAPolicy scope=One policy for all 4 suites2025.11 | 99.4 | 97.4 | 97.4 | — | 97.6 | 98 | |
| MM-ACT2026.06 | 99.4 | 97.8 | 94.8 | — | 93 | 96.3 | |
| Event-VLAevent pathway=enabled2026.06 | 99.4 | 94.2 | 97.4 | — | 94.8 | 96.5 | |
| Event-VLAevent pathway=disabled2026.06 | 99.2 | 94.4 | 96.8 | — | 94.4 | 96.2 | |
| FLOWERPolicy scope=One policy per suite2025.11 | 99.1 | 97.5 | 96.1 | — | 94.9 | 96.9 | |
| π02025.12 | 98.8 | 96.8 | 95.8 | — | 85.2 | 94.2 | |
| π0Policy scope=One policy for all 4 suites2025.11 | 98.8 | 96.8 | 95.8 | — | 85.2 | 94.2 | |
| UnifiedVLAPolicy scope=One policy for all 4 suites2025.11 | 98.8 | 95.4 | 93.6 | — | 94 | 95.5 | |
| π02026.05 | 98.8 | 96.8 | 95.8 | — | 85.2 | 94.1 | |
| UniVLA2026.05 | 98.8 | 95.4 | 93.6 | — | 94 | 95.5 | |
| π0Type=VLA2026.06 | 98.8 | 96.8 | 95.8 | — | 85.2 | 94.1 | |
| π02026.06 | 98.8 | 96.8 | 95.8 | — | 85.2 | 94.2 | |
| RIPT-VLAPolicy scope=One policy per suite2025.11 | 98.6 | 99 | 98.6 | — | 93.8 | 97.5 | |
| DD-VLA2026.05 | 98.6 | 97.2 | 97.4 | — | 92 | 96.3 | |
| ResVLA2026.06 | 98.6 | 96.8 | 97.4 | — | 92.4 | 96.3 | |
| OpenVLA-OFT2025.12 | 98.4 | 97.6 | 97.9 | — | 94.5 | 97.1 | |
| OpenVLA-OFTPolicy scope=One policy per suite2025.11 | 98.4 | 97.6 | 97.9 | — | 94.5 | 97.1 | |
| MemoryVLA2026.05 | 98.4 | 98.4 | 96.4 | — | 93.4 | 96.7 | |
| OpenVLA-OFT2026.05 | 98.4 | 97.6 | 97.9 | — | 94.5 | 97.1 | |
| OpenVLA-OFTMulti-task=true, World Model=false2026.07 | 98.4 | 97.6 | 97.9 | — | 94.5 | 97.1 | |
| OpenVLA-OFT2026.06 | 98.3 | 96.2 | 96.2 | — | 90.7 | 95.4 | |
| π0.52026.05 | 98.2 | 98.8 | 98 | — | 92.4 | 96.9 | |
| π0.5Type=VLA2026.06 | 98.2 | 98.6 | 98 | — | 92.4 | 96.8 | |
| OpenVLA-OFTPolicy scope=One policy for all 4 suites2025.11 | 98 | 97.7 | 96.1 | — | 95.3 | 96.8 | |
| F12026.05 | 97.8 | 98.2 | 95.4 | — | 91.3 | 95.7 | |
| GR00T-N12026.05 | 97.6 | 94.4 | 93 | — | 90.6 | 93.9 | |
| GE-Act2026.05 | 97.6 | 98.2 | 95.8 | — | 94.4 | 96.5 | |
| GR00T-N1Type=VLA2026.06 | 97.6 | 94.4 | 93 | — | 90.6 | 93.9 | |
| UniVLA2025.12 | 96.8 | 96.5 | 95.6 | — | 92 | 95.2 | |
| π0-fast2026.03 | 96.8 | 96.4 | 88.6 | — | 60.2 | 85.5 | |
| π0-FASTPolicy scope=One policy for all 4 suites2025.11 | 96.8 | 96.4 | 88.6 | — | 60.2 | 85.5 | |
| UniVLAPolicy scope=One policy per suite2025.11 | 96.8 | 96.5 | 95.6 | — | 92 | 95.2 | |
| π0-FAST2026.05 | 96.8 | 96.4 | 88.6 | — | 60.2 | 85.5 | |
| PD-VLAPolicy scope=One policy per suite2025.11 | 96.7 | 95.5 | 94.9 | — | 91.7 | 94.7 | |
| VLA-MBPOTraining Mode=One-Trajectory SFT2026.03 | 96.6 | 87.8 | 92.8 | — | 66.8 | 85.9 | |
| DiT PolicyMulti-task=true, World Model=false2026.07 | 96.3 | 84.2 | 85.4 | — | 63.8 | 82.4 | |
| WorldVLAPolicy scope=One policy for all 4 suites2025.11 | 96.2 | 87.6 | 83.4 | — | 60 | 81.8 | |
| WorldVLAType=VLA2026.06 | 96.2 | 87.6 | 83.4 | — | 60 | 81.8 | |
| MolmoAct2026.03 | 95.4 | 87 | 87.6 | — | 77.2 | 86.8 | |
| SPRtraining configuration=jointly-trained model on all four subsets2026.03 | 95.4 | 93.2 | 93.2 | — | 85.4 | 91.8 | |
| NORAPolicy scope=One policy per suite2025.11 | 95.4 | 92.2 | 89.4 | — | 74.6 | 87.9 | |
| DreamVLA2026.05 | 94 | 97.5 | 89.5 | — | 89.5 | 92.6 | |
| SmolVLAMulti-task=false, World Model=false2026.07 | 94 | 93 | 91 | — | 77 | 88.8 | |
| SPRtraining configuration=separately-trained models per subset2026.03 | 93 | 92.4 | 94.2 | — | 82.8 | 90.6 | |
| Diffusion Policy2025.12 | 92.5 | 78.3 | 68.3 | — | 50.5 | 72.4 | |
| Diffusion Policy2026.03 | 92.5 | 78.3 | 68.3 | — | 50.5 | 72.4 | |
| Diffusion Policy2026.05 | 92.5 | 78.3 | 68.3 | — | 50.5 | 72.4 | |
| Diffusion PolicyMulti-task=false, World Model=false2026.07 | 92.5 | 78.3 | 68.3 | — | 50.5 | 72.4 | |
| πRLTraining Mode=One-Trajectory SFT2026.03 | 92.4 | 86 | 90.8 | — | 61.2 | 82.6 | |
| IDQLTraining Mode=One-Trajectory SFT2026.03 | 92.4 | 79 | 86.4 | — | 52.2 | 77.5 | |
| GRAPE2026.03 | 92.1 | 88.5 | 83.1 | — | 57.2 | 80.2 | |
| CoT-VLAPolicy scope=One policy per suite2025.11 | 91.6 | 87.5 | 87.6 | — | 69 | 83.9 | |
| ThinkAct2026.03 | 91.4 | 88.3 | 87.1 | — | 70.9 | 84.4 | |
| ThinkActMulti-task=true, World Model=false2026.07 | 91.4 | 88.3 | 87.1 | — | 70.9 | 84.4 | |
| MaILMulti-task=false, World Model=false2026.07 | 90.1 | 74.3 | 81.8 | — | 78.6 | 83.5 | |
| SpatialVLA2025.12 | 89.9 | 88.2 | 78.6 | — | 55.5 | 78.1 | |
| SpatialVLAPolicy scope=One policy per suite2025.11 | 89.9 | 88.2 | 78.6 | — | 55.5 | 78.1 | |
| BC (WM)Training Mode=One-Trajectory SFT2026.03 | 89.8 | 80.6 | 85 | — | 48.6 | 76 | |
| π0.5 (SFT)Training Mode=One-Trajectory SFT2026.03 | 88.6 | 78.2 | 85.8 | — | 54.6 | 76.8 | |
| OpenVLA2025.12 | 88.4 | 84.7 | 79.2 | — | 53.7 | 76.5 | |
| OpenVLA2026.03 | 88.4 | 84.7 | 79.2 | — | 53.7 | 76.5 | |
| OpenVLAPolicy scope=One policy per suite2025.11 | 88.4 | 84.7 | 79.2 | — | 53.7 | 76.5 | |
| OpenVLA2026.06 | 88.4 | 84.7 | 79.2 | — | 53.7 | 76.5 | |
| MDTMulti-task=false, World Model=false2026.07 | 87.5 | 78.5 | 73.5 | — | 64.8 | 76.1 | |
| π0.5Multi-task=true, World Model=false2026.07 | 87.5 | 91.2 | 94.3 | — | 74.1 | 86.8 | |
| Gemini-2.5-pro2026.02 | 87 | 86 | 74 | 86 | 68 | — | |
| GSRModel size=8B2026.02 | 86.5 | 89.2 | 81 | 85 | 82.4 | — | |
| Octo2025.12 | 85.7 | 78.9 | 84.6 | — | 51.1 | 75.1 | |
| Octo2026.03 | 85.7 | 78.9 | 84.6 | — | 51.1 | 75.1 | |
| OctoMulti-task=true, World Model=false2026.07 | 85.7 | 78.9 | 84.6 | — | 51.1 | 75.1 | |
| TraceVLAPolicy scope=One policy for all 4 suites2025.11 | 85.2 | 84.6 | 75.1 | — | 54.1 | 74.8 | |
| Qwen3Model size=8B2026.02 | 84 | 81 | 72 | 82 | 54 | — | |
| DeepSeek-V32026.02 | 82 | 77 | 73 | 80 | 61 | — | |
| Claude-sonnet-4-52026.02 | 82 | 88 | 74 | 83 | 62 | — | |
| GPT-52026.02 | 81 | 79 | 69 | 80 | 57 | — |