Robotic Manipulation on RoboTwin 10 tasks with clean settings 2.0 (test)
47Turn switch Success RateSpatial Forcing
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Spatial ForcingBase Model=OpenVLA-OFT2026.05 | 47 | 23 | 100 | 2 | 17 | 24 | 15 | 17 | 23 | 63 | 33.1 | |
| CapVectorBase Model=OpenVLA-OFT, Extraction dataset (Dext)=902026.05 | 36 | 1 | 0 | 2 | 1 | 11 | 3 | 0 | 9 | 7 | 9.4 | |
| OpenVLA-OFTModel Architecture=OpenVLA2026.05 | 33 | 1 | 4 | 2 | 1 | 7 | 1 | 1 | 9 | 8 | 6.7 | |
| CapVectorBase Model=OpenVLA-OFT, Extraction dataset (Dext)=Spatial2026.05 | 33 | 1 | 99 | 13 | 23 | 39 | 22 | 12 | 17 | 59 | 31.8 | |
| CapVectorBase Model=OpenVLA-OFT, Extraction dataset (Dext)=Long2026.05 | 18 | 12 | 99 | 13 | 6 | 33 | 4 | 5 | 21 | 26 | 23.7 | |
| Spatial ForcingBase Model=pi_0.52026.05 | 5 | 0 | 15 | 19 | 29 | 18 | 32 | 27 | 72 | 19 | 23.6 | |
| CapVectorBase Model=pi_0.5, Strategy=VLM + Expert2026.05 | 5 | 0 | 12 | 20 | 32 | 15 | 31 | 34 | 64 | 22 | 23.5 | |
| CapVectorBase Model=pi_0.5, Strategy=Merged VLM2026.05 | 4 | 1 | 14 | 19 | 27 | 18 | 32 | 19 | 73 | 22 | 22.9 | |
| pi_0.5Model Architecture=Merged VLM2026.05 | 3 | 44 | 9 | 3 | 27 | 7 | 12 | 1 | 34 | 11 | 15.1 |