Robotic Manipulation on RoboTwin 2.0
94.4Average Success RateSANTS
Evaluation results
| Method | Links | |||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SANTSA100 Latency (ms)=523.72026.05 | 94.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94.6 | 94.2 | — | — | |
| PFDEmb. PT.=–, Evaluation Protocol=partial fine-tune2026.04 | 92.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.11 | — | 92.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoSem-WAMParadigm=WAM, Embodied PT.=✗2026.06 | 92.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AttenA+WAMEmbodied PT.=false2026.05 | 92.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.06 | — | 91.86 | — | — | — | — | — | — | — | — | — | 7.54 | — | — | — | — | — | — | |
| LingBot-VAEmb. PT.=✓2026.04 | 92.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.9 | — | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LingBot-VAEmbodied PT.=true2026.05 | 92.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.9 | — | 91.5 | — | — | — | — | — | — | — | — | — | 7.8 | 0.3 | -3.3 | — | — | — | — | |
| LingBot-VAA100 Latency (ms)=2868.42026.05 | 92.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 92.9 | 91.5 | — | — | |
| LingBot-VAParadigm=WAM, Embodied PT.=✓2026.06 | 92.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-WAMEmb. PT.=–2026.04 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.88 | — | 91.78 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-WAMEmbodied PT.=false2026.05 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.88 | — | 91.78 | — | — | — | — | — | — | — | — | — | 8.2 | 0.6 | -7.7 | — | — | — | — | |
| Fast-WAMA100 Latency (ms)=1902026.05 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.9 | 91.8 | — | — | |
| Fast-WAMParadigm=WAM, Embodied PT.=✗2026.06 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GuidedVLA (π0 w/ all heads)head_type=all heads (object, skill, depth)2026.05 | 90.63 | 95 | — | 65 | — | — | — | — | — | — | — | 98 | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99 | — | 99 | 98 | — | — | — | — | 78 | — | — | — | — | — | — | — | |
| X-WAMParadigm=WAM, Embodied PT.=✓2026.06 | 90.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AnyPosTraining Scheme=Single-model (cross-task), Training Data=20 demonstrations per task2025.07 | 88.24 | — | 100 | 95 | — | 50 | 70 | — | 75 | — | — | — | — | 100 | 95 | — | — | — | — | 70 | — | — | — | — | — | — | 90 | — | — | — | — | 95 | 100 | 75 | 100 | 100 | 100 | 100 | 85 | — | — | — | — | — | — | — | — | |
| MotusTime (ms)=32312026.03 | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP+HiPolicyTask name=Stack bowls three, Precise=false, Demo steps=4762026.04 | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MotusEmb. PT.=✓2026.04 | 87.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.66 | — | 87.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MotusEmbodied PT.=true2026.05 | 87.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.66 | — | 87.02 | — | — | — | — | — | — | — | — | — | 12.2 | 4.6 | -38 | — | — | — | — | |
| MotusA100 Latency (ms)=11752026.05 | 87.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.7 | 87 | — | — | |
| MotusParadigm=WAM, Embodied PT.=✓2026.06 | 87.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Q-VGMEvaluation protocol=20 physical trials per task2026.06 | 87.2 | 90 | — | 92 | — | — | — | — | — | — | — | — | — | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 94 | — | 70 | — | 94 | 94 | — | 92 | — | — | — | — | — | — | 86 | 66 | |
| π0 w/ object headhead_type=object head2026.05 | 86.75 | 94 | — | 62 | — | — | — | — | — | — | — | 93 | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 99 | — | 95 | 91 | — | — | — | — | 66 | — | — | — | — | — | — | — | |
| π0 w/ depth headhead_type=depth head2026.05 | 86.38 | 96 | — | 63 | — | — | — | — | — | — | — | 94 | 87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98 | — | 82 | 97 | — | — | — | — | 74 | — | — | — | — | — | — | — | |
| GigaWorld-PolicyTime (ms)=3602026.03 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Stack bowls three, Precise=false, Demo steps=4762026.04 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP+HiPolicyTask name=Open laptop, Precise=false, Demo steps=2582026.04 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Open laptop, Precise=false, Demo steps=2582026.04 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GigaWorld-PolicyParadigm=WAM, Embodied PT.=✓2026.06 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0 w/ skill headhead_type=skill head2026.05 | 85 | 92 | — | 39 | — | — | — | — | — | — | — | 95 | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 98 | — | 96 | 93 | — | — | — | — | 73 | — | — | — | — | — | — | — | |
| DP3Task name=Stack bowls three, Precise=false, Demo steps=4762026.04 | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Task name=Open laptop, Precise=false, Demo steps=2582026.04 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Q-Distill.Evaluation protocol=20 physical trials per task2026.06 | 81.4 | 82 | — | 92 | — | — | — | — | — | — | — | — | — | 90 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88 | — | 60 | — | 90 | 92 | — | 88 | — | — | — | — | — | — | 76 | 56 | |
| DP+HiPolicyTask name=Put bottles dustbin, Precise=false, Demo steps=6372026.04 | 81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LingBot-VAEmb. PT.=–, Backbone/Source=from Wan2.22026.04 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ΔVLA2026.03 | 80.4 | — | — | 93 | — | — | — | — | — | — | 25 | — | 92 | — | — | — | — | 87 | — | — | — | — | — | 91 | 86 | 91 | 78 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Q-Guid.Evaluation protocol=20 physical trials per task2026.06 | 80.4 | 84 | — | 90 | — | — | — | — | — | — | — | — | — | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86 | — | 58 | — | 90 | 90 | — | 88 | — | — | — | — | — | — | 76 | 54 | |
| UWMParadigm=WAM, Embodied PT.=✓2026.06 | 80.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Put bottles dustbin, Precise=false, Demo steps=6372026.04 | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Stack bowls three, Precise=false, Demo steps=4762026.04 | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Emb. PT.=✓2026.04 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.74 | — | 76.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5A100 Latency (ms)=632026.05 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.7 | 76.8 | — | — | |
| π0.5Embodied PT.=true2026.05 | 79.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.74 | — | 76.76 | — | — | — | — | — | — | — | — | — | 20.25 | 12.7 | -62.8 | — | — | — | — | |
| π0.5Paradigm=VLA, Embodied PT.=✓2026.06 | 79.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Q-Sel.Evaluation protocol=20 physical trials per task2026.06 | 79.2 | 82 | — | 90 | — | — | — | — | — | — | — | — | — | 90 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84 | — | 56 | — | 88 | 92 | — | 86 | — | — | — | — | — | — | 72 | 52 | |
| DP+HiPolicyTask name=Place phone stand, Precise=true, Demo steps=1302026.04 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0head_type=base policy2026.05 | 77.38 | 78 | — | 35 | — | — | — | — | — | — | — | 85 | 89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 97 | — | 92 | 79 | — | — | — | — | 64 | — | — | — | — | — | — | — | |
| MotusEmb. PT.=–, Backbone/Source=from Wan2.22026.04 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.56 | — | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Training Scheme=Per-task training scheme, Training Data=50 trajectories per task2025.07 | 76.88 | — | 77 | 90 | — | 70 | 41 | — | 60 | — | — | — | — | 65 | 60 | — | — | — | — | 46 | — | — | — | — | — | — | 69 | — | — | — | — | 99 | 98 | 97 | 68 | 86 | 98 | 100 | 83 | — | — | — | — | — | — | — | — | |
| SFTInitialization=few-shot-SFT π0.5, Evaluation protocol=20 physical trials per task2026.06 | 76.4 | 78 | — | 88 | — | — | — | — | — | — | — | — | — | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80 | — | 54 | — | 86 | 88 | — | 84 | — | — | — | — | — | — | 70 | 50 | |
| DP3+HiPolicyTask name=Stamp seal, Precise=true, Demo steps=1512026.04 | 74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D Diffusion Policy2026.03 | 73.9 | — | — | 90 | — | — | — | — | — | — | 19 | — | 86 | — | — | — | — | 83 | — | — | — | — | — | 77 | 82 | 85 | 69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| X-VLAEmbodied PT.=true2026.05 | 72.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.9 | — | 72.8 | — | — | — | — | — | — | — | — | — | 27.15 | 19.6 | -72.2 | — | — | — | — | |
| X-VLAParadigm=VLA, Embodied PT.=✓2026.06 | 72.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFTReproduced=true2026.03 | 72.3 | — | — | 84 | — | — | — | — | — | — | 13 | — | 89 | — | — | — | — | 83 | — | — | — | — | — | 82 | 73 | 86 | 68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDT + DP_pcdModel Type=VLA & VA2025.10 | 72 | — | — | — | 36 | — | — | — | — | — | — | 83 | — | — | — | — | — | 73 | — | 71 | — | 78 | — | — | — | — | — | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PocketDP3-basevariant=base, inference steps=22026.01 | 71.6 | 92 | 98 | 100 | 39 | 97 | 53 | 74 | 93 | 41 | 52 | 86 | 95 | 94 | 72 | 63 | 43 | 72 | 41 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP_img + DP_pcdModel Type=VA & VA2025.10 | 70 | — | — | — | 23 | — | — | — | — | — | — | 78 | — | — | — | — | — | 71 | — | 71 | — | 82 | — | — | — | — | — | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Open laptop, Precise=false, Demo steps=2582026.04 | 69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.03 | 67.4 | — | — | 44 | — | — | — | — | — | — | 23 | — | 88 | — | — | — | — | 91 | — | — | — | — | — | 63 | 85 | 83 | 62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PocketDP3-tinyvariant=tiny, inference steps=22026.01 | 66 | 94 | 94 | 100 | 29 | 81 | 45 | 77 | 83 | 48 | 38 | 74 | 98 | 90 | 61 | 55 | 31 | 63 | 34 | 59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Task name=Put bottles dustbin, Precise=false, Demo steps=6372026.04 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP_pcdModel Type=VA2025.10 | 65 | — | — | — | 21 | — | — | — | — | — | — | 72 | — | — | — | — | — | 64 | — | 71 | — | 71 | — | — | — | — | — | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pi0Training Scheme=Per-task training scheme, Training Data=50 trajectories per task2025.07 | 64.88 | — | 63 | 44 | — | 58 | 21 | — | 57 | — | — | — | — | 37 | 36 | — | — | — | — | 27 | — | — | — | — | — | — | 62 | — | — | — | — | 90 | 96 | 84 | 53 | 88 | 97 | 99 | 91 | — | — | — | — | — | — | — | — | |
| DP+HiPolicyTask name=Place bread basket, Precise=true, Demo steps=2312026.04 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Place phone stand, Precise=true, Demo steps=1302026.04 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0Emb. PT.=✓2026.04 | 62.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.92 | — | 58.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0Embodied PT.=true2026.05 | 62.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.92 | — | 58.4 | — | — | — | — | — | — | — | — | — | 37.8 | 30.3 | -80.1 | — | — | — | — | |
| π0Paradigm=VLA, Embodied PT.=✓2026.06 | 62.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepThinkVLAparameter count=2.9B2025.10 | 59.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDT2026.03 | 58 | — | — | 80 | — | — | — | — | — | — | 5 | — | 78 | — | — | — | — | 76 | — | — | — | — | — | 61 | 59 | 64 | 41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Place bread skillet, Precise=true, Demo steps=1622026.04 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDTTraining Scheme=Per-task training scheme, Training Data=50 trajectories per task2025.07 | 55.59 | — | 61 | 80 | — | 25 | 8 | — | 42 | — | — | — | — | 56 | 15 | — | — | — | — | 35 | — | — | — | — | — | — | 41 | — | — | — | — | 81 | 74 | 72 | 43 | 78 | 74 | 84 | 76 | — | — | — | — | — | — | — | — | |
| DP+HiPolicyTask name=Place bread skillet, Precise=true, Demo steps=1622026.04 | 55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Task name=Place phone stand, Precise=true, Demo steps=1302026.04 | 55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SMP2026.01 | 54 | — | — | — | — | 64 | — | 56 | — | — | 14 | 79 | — | — | — | — | — | — | — | — | 61 | 52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDT + DP_imgModel Type=VLA & VA2025.10 | 53 | — | — | — | 18 | — | — | — | — | — | — | 57 | — | — | — | — | — | 66 | — | 38 | — | 59 | — | — | — | — | — | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Scan object, Precise=true, Demo steps=1702026.04 | 52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP32026.01 | 50.8 | 72 | 77 | 90 | 17 | 70 | 41 | 52 | 60 | 26 | 19 | 72 | 48 | 65 | 60 | 44 | 31 | 57 | 18 | 46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACT2026.03 | 50.8 | — | — | 58 | — | — | — | — | — | — | 7 | — | 72 | — | — | — | — | 82 | — | — | — | — | — | 32 | 56 | 68 | 31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACTTraining Scheme=Per-task training scheme, Training Data=50 trajectories per task2025.07 | 49.82 | — | 32 | 58 | — | 22 | 0 | — | 31 | — | — | — | — | 61 | 1 | — | — | — | — | 5 | — | — | — | — | — | — | 31 | — | — | — | — | 97 | 94 | 88 | 36 | 72 | 74 | 63 | 82 | — | — | — | — | — | — | — | — | |
| π02025.10 | 49.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDT2026.01 | 48 | — | — | — | — | 63 | — | 55 | — | — | 5 | 66 | — | — | — | — | — | — | — | — | 60 | 43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5Time (ms)=2252026.03 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3+HiPolicyTask name=Place bread basket, Precise=true, Demo steps=2312026.04 | 47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTraining Scheme=Per-task training scheme, Training Data=50 trajectories per task2025.07 | 46.29 | — | 61 | 54 | — | 39 | 1 | — | 24 | — | — | — | — | 37 | 22 | — | — | — | — | 36 | — | — | — | — | — | — | 6 | — | — | — | — | 97 | 98 | 39 | 47 | 41 | 65 | 59 | 61 | — | — | — | — | — | — | — | — | |
| DP_imgModel Type=VA2025.10 | 46 | — | — | — | 10 | — | — | — | — | — | — | 49 | — | — | — | — | — | 52 | — | 38 | — | 56 | — | — | — | — | — | 74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Task name=Place bread skillet, Precise=true, Demo steps=1622026.04 | 45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Place phone stand, Precise=true, Demo steps=1302026.04 | 45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sparse DP2026.01 | 44 | — | — | — | — | 59 | — | 37 | — | — | 8 | 77 | — | — | — | — | — | — | — | — | 42 | 42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP+HiPolicyTask name=Scan object, Precise=true, Demo steps=1702026.04 | 44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diffusion Policy2026.03 | 41.5 | — | — | 54 | — | — | — | — | — | — | 11 | — | 41 | — | — | — | — | 61 | — | — | — | — | — | 61 | 49 | 49 | 6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Place bread basket, Precise=true, Demo steps=2312026.04 | 41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Disc. Policy2026.01 | 40 | — | — | — | — | 46 | — | 29 | — | — | 13 | 74 | — | — | — | — | — | — | — | — | 23 | 52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDTModel Type=VLA2025.10 | 40 | — | — | — | 13 | — | — | — | — | — | — | 46 | — | — | — | — | — | 47 | — | 30 | — | 32 | — | — | — | — | — | 69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVLA-OFT2025.10 | 38.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Place bread skillet, Precise=true, Demo steps=1622026.04 | 38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPTask name=Put bottles dustbin, Precise=false, Demo steps=6372026.04 | 38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0-FAST2025.10 | 37.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pi_02026.01 | 36.8 | 43 | 63 | 44 | 11 | 58 | 21 | 27 | 57 | 17 | 23 | 80 | 34 | 37 | 36 | 35 | 18 | 66 | 3 | 27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |