Robotic Manipulation on RoboCasa
80.6Average Success RateZ-1
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Z-1Training Protocol=RL2026.06 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.8 | — | — | 98.4 | 92.8 | — | — | — | — | — | 76.6 | 73.4 | 78.1 | 50 | 76.6 | 79.7 | 84.4 | 48.4 | 89.6 | 100 | 37.5 | 95.3 | |
| X-WAM2026.06 | 79.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 96 | — | — | 92 | 96 | — | — | — | — | — | 67 | 79 | 83 | 62 | 73 | 71 | 80 | 57 | 82 | 93 | 45 | 82 | |
| Consistency-ExploringTest-time scaling=Yes, Base Model=Cosmos-Policy*2026.05 | 68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Value-Prediction*Test-time scaling=Yes, Base Model=Cosmos-Policy*2026.05 | 67.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Z-1Training Protocol=SFT2026.06 | 67.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 95.8 | — | — | 29.2 | 92.8 | — | — | — | — | — | 54.2 | 66.7 | 70.8 | 39.6 | 37.5 | 58.3 | 70.8 | 33.3 | 89.6 | 100 | 37.5 | 79.2 | |
| Consistency-ConsensusTest-time scaling=Yes, Base Model=Cosmos-Policy*2026.05 | 67.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos-Policy*Test-time scaling=No2026.05 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FLARETest-time scaling=No2026.05 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Video-PolicyTest-time scaling=No2026.05 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.5Test-time scaling=No2026.05 | 64.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Video2026.06 | 63.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 68 | — | — | 84 | 92 | — | — | — | — | — | 42 | 44 | 58 | 52 | 36 | 64 | 64 | 44 | 92 | 90 | 22 | 76 | |
| MG-Select*Base Model=π0-FAST, Number of Demonstrations=300, Joint Training=true2025.10 | 62.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0Test-time scaling=No2026.05 | 62.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-SelectBase Model=π0-FAST, Number of Demonstrations=3002025.10 | 61.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-FASTNumber of Demonstrations=300, Reproduced Performance=true2025.10 | 61.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UWMTest-time scaling=No2026.05 | 60.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00TModel Variant=N1.52026.06 | 59.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62 | — | — | 85 | 94 | — | — | — | — | — | 57 | 26 | 41 | 33 | 26 | 46 | 60 | 27 | 66 | 81 | 38 | 67 | |
| DP-VLATest-time scaling=No2026.05 | 57.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi_0.5 + Pri4Rmodule=Pri4R2026.03 | 57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 52 | 68.5 | — | 33 | 86.7 | 54.7 | 5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TTP2026.07 | 55.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35 | 76.3 | 58.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OATdecoded_tokens=82026.02 | 54.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diffusion Policy (DP)2026.02 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BeingH-0.52026.07 | 53.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36 | 71.7 | 57.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi_0.52026.03 | 52.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.3 | 51 | — | 28 | 79.3 | 60 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoPredict2025.12 | 52.4 | 32.4 | 8.8 | 27.6 | 31.2 | 20.4 | 28.8 | 14.4 | 18 | 28.4 | 49.2 | 67.6 | 70.8 | 40.4 | 78.8 | 87.2 | 70 | 77.6 | 96.8 | 72.4 | 94.8 | 60 | 13.2 | 84.8 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| QueST2026.02 | 52.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TTP w/o pre-training2026.07 | 52.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33 | 72.3 | 55.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OATdecoded_tokens=42026.02 | 51.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OATdecoded_tokens=22026.02 | 50.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ours (Base)variant=Base2026.02 | 50 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.3 | 62.3 | 54.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UVATest-time scaling=No2026.05 | 50 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T2026.06 | 49.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59 | — | — | 63 | 85 | — | — | — | — | — | 36 | 10 | 24 | 13 | 20 | 33 | 29 | 16 | 78 | 71 | 23 | 73 | |
| GR00T N1Number of Demonstrations=3002025.10 | 49.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-Select*Base Model=π0-FAST, Number of Demonstrations=100, Joint Training=true2025.10 | 48.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OATdecoded_tokens=12026.02 | 47.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT + Pri4Rmodule=Pri4R2026.03 | 46.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23 | 61.7 | — | 25 | 66.7 | 79.3 | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VIPA-VLAInput configuration=three-view, Demonstrations per task=502025.12 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.8 | 67.7 | 52.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-SelectBase Model=π0-FAST, Number of Demonstrations=1002025.10 | 43.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.02 | 42.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14 | 53.1 | 58.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.07 | 42.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14 | 53.1 | 58.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi0 (Baseline)Fine-tuned=true2025.12 | 42.3 | 24 | 6.8 | 26.8 | 15.6 | 11.2 | 12.8 | 6.8 | 7.6 | 18.4 | 33.6 | 74 | 69.6 | 40.8 | 82 | 55.2 | 69.2 | 66.4 | 96 | 43.6 | 86 | 43.2 | 6 | 59.6 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi_0 + Pri4Rmodule=Pri4R2026.03 | 42.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24 | 49 | — | 30 | 71.3 | 59.3 | 2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.52026.02 | 41.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.5 | 57.8 | 44.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Input configuration=three-view2025.12 | 41.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.5 | 57.8 | 44.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.52026.07 | 41.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.5 | 57.8 | 44.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-FASTNumber of Demonstrations=100, Reproduced Performance=true2025.10 | 40.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GWM (3D)2026.07 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.8 | 54.3 | 49.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GWM2025.12 | 39.2 | 4 | 18 | 20 | 22 | 2 | 18 | 14 | 20 | 16 | 36 | 76 | 72 | 58 | 54 | 28 | 50 | 56 | 80 | 52 | 44 | 46 | 22 | 64 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi_02026.03 | 38.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24 | 45 | — | 29 | 57.3 | 57.3 | 0 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N12026.02 | 36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.6 | 50.2 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T N1Input configuration=three-view2025.12 | 36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.6 | 50.2 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N12026.07 | 36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.6 | 50.2 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-Select*Base Model=π0-FAST, Number of Demonstrations=30, Joint Training=true2025.10 | 34.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT2026.03 | 33.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.8 | 45.7 | — | 8 | 36 | 56 | 27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T N1Number of Demonstrations=1002025.10 | 32.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MG-SelectBase Model=π0-FAST, Number of Demonstrations=302025.10 | 32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-FASTNumber of Demonstrations=30, Reproduced Performance=true2025.10 | 30.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-Fast2026.07 | 29.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.5 | 53 | 32.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BC (RGB 256)2026.07 | 28.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.3 | 47 | 42.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BC-Transformer2025.12 | 28.8 | 6 | 2 | 2 | 8 | 2 | 6 | 2 | 2 | 0 | 22 | 48 | 54 | 46 | 56 | 28 | 28 | 42 | 80 | 38 | 50 | 32 | 4 | 62 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bin2026.02 | 27.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AnchorDream300Training Data Regime=AnchorDream3002025.12 | 24.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3 (3D)2026.07 | 22.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.5 | 41.7 | 32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Human50Training Data Regime=Human502025.12 | 22.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DreamGen10KTraining Data Regime=DreamGen10K2025.12 | 20.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T N1Number of Demonstrations=302025.10 | 17.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FAST2026.02 | 13.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DA (3D)2026.07 | 5.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 2.3 | 13.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ABot-M02026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACG2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Action Smoothing2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BCState Representation=low-dimensional state features, Policy Architecture (Backbone)=Multi-Layer Perceptrons, Number of Trials=1002026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54 | 28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Being-H0.72026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFG2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos PolicyReal Demos (per task)=50, Synthetic Demos (per task)=02026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos Policy2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cosmos Policy + World2ActReal Demos (per task)=50, Synthetic Demos (per task)=+502026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| cosmos-policyFamily=WAM2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.7 | — | 67.1 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DARPState Representation=low-dimensional state features, Policy Architecture (Backbone)=Multi-Layer Perceptrons, Number of Trials=1002026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85 | 43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diffusion Policy2026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 15 | 15.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Backbone=DP3, Fourier Features=false2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3 + FFBackbone=DP3, Fourier Features=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 27.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ensemblen=22025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ensemblen=52025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Feature Smoothing2025.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.5Real Demos (per task)=300, Synthetic Demos (per task)=02026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.6Real Demos (per task)=300, Synthetic Demos (per task)=02026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.6-ftReal Demos (per task)=350, Synthetic Demos (per task)=02026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.6-ft + DreamGenReal Demos (per task)=350, Synthetic Demos (per task)=+502026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GR00T-N1.6-ft + World2ActReal Demos (per task)=350, Synthetic Demos (per task)=+502026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCMBackbone=PCM, Fourier Features=false2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCM + FFBackbone=PCM, Fourier Features=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMapBackbone=PointMap2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatchBackbone=PointPatch, Fourier Features=false2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch + FFBackbone=PointPatch, Fourier Features=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch-attnBackbone=PointPatch, Attention=true, Fourier Features=false2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch-attn + FFBackbone=PointPatch, Attention=true, Fourier Features=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch+RGBBackbone=PointPatch, Modality=Point Cloud + RGB2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch+RGB (pretrained)Backbone=PointPatch, Modality=Point Cloud + RGB, Pre-trained=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPatch+RGB (pretrained) + FFBackbone=PointPatch, Modality=Point Cloud + RGB, Pre-trained=true, Fourier Features=true2026.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 48.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |