Robotic Manipulation on RoboTwin 2.0 (test)
94.3Average Success RateOFP
Evaluation results
| Method | Links | |||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OFPNFE=12026.03 | 94.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.5NFE=102026.03 | 90.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iMFNFE=12026.03 | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KoopmanFlow2026.03 | 80.4 | 99 | — | — | — | — | 81 | — | 81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74 | — | — | — | 67 | — | — | — | — | — | — | — | — | |
| DP32026.03 | 77.8 | 96 | — | — | — | — | 70 | — | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 58 | — | — | — | 68 | — | — | — | — | — | — | — | — | |
| ShortcutNFE=12026.03 | 75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CFMNFE=12026.03 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SimpleVLA-RLRole=Teacher (Reference), Initialization=full-dataset SFT (1000 demos/task)2026.03 | 74 | — | — | — | — | — | 57.8 | — | — | — | — | — | — | — | — | — | 68.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.8 | — | — | — | 94.2 | — | — | — | — | — | — | — | |
| π0.5Evaluation Protocol=Fine-tuned, Number of demonstrations=400 per task2026.06 | 72.9 | — | — | — | — | — | — | — | — | — | — | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93 | — | — | — | 97 | — | — | — | — | — | — | — | — | — | — | — | 66 | 89 | 42 | 39 | |
| VLA-OPDLearning Paradigm=Distill2026.03 | 71.1 | — | — | — | — | — | 52.3 | — | — | — | — | — | — | — | — | — | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75 | — | — | — | 90.6 | — | — | — | — | — | — | — | |
| Pi02026.03 | 69.2 | 90 | — | — | — | — | 44 | — | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66 | — | — | — | 62 | — | — | — | — | — | — | — | — | |
| Embodied-R1.5Evaluation Protocol=Zero-shot, Number of demonstrations=02026.06 | 65 | — | — | — | — | — | — | — | — | — | — | 67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50 | — | — | — | 89 | — | — | — | — | — | — | — | — | — | — | — | 99 | 56 | 42 | 52 | |
| TACOBase Model=π0.5, number of candidate actions=502025.12 | 64 | 93 | 79 | 40 | 87 | 98 | 36 | 63 | 66 | 57 | 54 | 88 | 18 | 67 | 21 | 59 | 73 | 56 | 42 | 65 | 61 | 92 | 72 | 87 | 28 | 32 | 24 | 78 | 52 | 78 | 86 | 65 | 56 | 67 | 100 | 99 | 45 | 91 | 68 | 93 | 38 | 49 | — | — | — | — | — | — | — | — | — | |
| DP3 + VRmodule=Variational Regularization2026.01 | 62.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSSPObs.=P.C., Params=44.3M2026.05 | 62.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.78 | 57.33 | 64.06 | — | — | — | — | |
| π0.52025.12 | 59.3 | 89 | 69 | 36 | 86 | 100 | 24 | 58 | 62 | 42 | 55 | 85 | 13 | 67 | 20 | 52 | 72 | 51 | 39 | 62 | 62 | 89 | 68 | 85 | 23 | 34 | 16 | 69 | 45 | 68 | 76 | 53 | 54 | 62 | 100 | 98 | 43 | 81 | 64 | 93 | 26 | 42 | — | — | — | — | — | — | — | — | — | |
| RDT2026.03 | 59 | 81 | — | — | — | — | 45 | — | 72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56 | — | — | — | 41 | — | — | — | — | — | — | — | — | |
| DP32026.01 | 56.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP3Obs.=P.C., Params=264.4M2026.05 | 55.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59.83 | 52.53 | 52.76 | — | — | — | — | |
| π0Role=Baseline2026.03 | 50.5 | — | — | — | — | — | 39 | — | — | — | — | — | — | — | — | — | 50 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53 | — | — | — | 60 | — | — | — | — | — | — | — | |
| DP2026.03 | 50 | 96 | — | — | — | — | 45 | — | 38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63 | — | — | — | 8 | — | — | — | — | — | — | — | — | |
| pi02026.01 | 47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0Obs.=RGB, Params=3.3B2026.05 | 46.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.56 | 44.07 | 50.47 | — | — | — | — | |
| OpenVLA-OFTRole=Student Init.2026.03 | 45.2 | — | — | — | — | — | 33.1 | — | — | — | — | — | — | — | — | — | 29.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.6 | — | — | — | 77.3 | — | — | — | — | — | — | — | |
| SeedPolicyObs.=RGB, Params=147.3M2026.05 | 42.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.39 | 36.53 | 47.59 | — | — | — | — | |
| FlowPolicyObs.=P.C., Params=264.4M2026.05 | 41.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.89 | 37.4 | 29.59 | — | — | — | — | |
| RDT2025.12 | 34.6 | 81 | 77 | 0 | 64 | 74 | 45 | 90 | 72 | 25 | 8 | 43 | 2 | 59 | 37 | 2 | 42 | 3 | 1 | 10 | 5 | 50 | 6 | 78 | 4 | 12 | 1 | 33 | 1 | 15 | 15 | 35 | 33 | 50 | 84 | 74 | 2 | 21 | 51 | 76 | 1 | 35 | — | — | — | — | — | — | — | — | — | |
| RDTObs.=RGB, Params=1.2B2026.05 | 34.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.72 | 32.47 | 33.94 | — | — | — | — | |
| RDTRole=Baseline2026.03 | 32 | — | — | — | — | — | 26 | — | — | — | — | — | — | — | — | — | 18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42 | — | — | — | 42 | — | — | — | — | — | — | — | |
| ACTObs.=RGB, Params=80.0M2026.05 | 29.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.94 | 26.4 | 32.47 | — | — | — | — | |
| DP2026.01 | 28.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPObs.=RGB, Params=96.8M2026.05 | 28.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.28 | 26 | 26.41 | — | — | — | — | |
| π0Evaluation Protocol=Fine-tuned, Number of demonstrations=400 per task2026.06 | 15 | — | — | — | — | — | — | — | — | — | — | 22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | — | — | — | 60 | — | — | — | — | — | — | — | — | — | — | — | 3 | 11 | 2 | 1 | |
| RDTEvaluation Protocol=Fine-tuned, Number of demonstrations=400 per task2026.06 | 12 | — | — | — | — | — | — | — | — | — | — | 11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | — | — | — | 45 | — | — | — | — | — | — | — | — | — | — | — | 9 | 12 | 0 | 0 |