ResearchBenchmarksRobotic Manipulation on Real-world Piper With observation noiseRobotic Manipulation on Real-world Piper With observation noiseFollow75Success Rate (Banana)OneWM-VLA59.463.4567.571.55May 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (Banana)Error Rate (Cloth)Success Rate (Drawer)Average Success Rate (%)OneWM-VLAAction chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Observation noise2026.0575403550π0Action chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Observation noise2026.056501025π0.5Action chunk size=50,...Action chunk size=50, Trials per task=20, Condition=Observation noise2026.0560102531.7