Robotic Manipulation on RoboTwin Easy 2.0
99Adjust Bottle Success RateDP3
Evaluation results
| Method | Links | |||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DP32026.05 | 99 | — | 72 | 77 | 85 | 98 | 70 | — | 41 | — | — | — | — | — | — | — | — | — | 55.2 | 2 | 90 | 3 | — | |
| Agentic-VLATraining demonstrations=50, Evaluation rollouts=100, Embodiment=dual-arm Aloha AgileX2026.05 | 98 | — | 79 | — | 87 | 98 | 73 | — | 43 | — | — | — | — | — | — | — | — | — | — | — | 91 | 24 | 62.5 | |
| Pose-VLA(w/o depth)depth=false2026.02 | 97 | — | 100 | 83 | 97 | 97 | 73 | 100 | 90 | 93 | 87 | 90 | 97 | 97 | 87 | 67 | 87 | 100 | 79.91 | — | — | — | — | |
| ACT2026.03 | 97 | — | 56 | 32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 49 | 0 | 58 | — | — | |
| Qwen2.5-VL-ADVAction Chunk=32, Steps per Second=53.3hz2026.03 | 97 | — | — | — | — | — | — | — | — | 55 | — | — | — | — | — | — | — | — | 39.3 | — | — | 52 | — | |
| ACT2026.05 | 97 | — | 56 | 32 | 68 | 94 | 42 | — | 0 | — | — | — | — | — | — | — | — | — | 29.7 | 0 | 58 | 1 | — | |
| Qwen2.5-VL-DiffusionAction Chunk=32, Steps per Second=94.7hz2026.03 | 96 | — | — | — | — | — | — | — | — | 39 | — | — | — | — | — | — | — | — | 30.1 | — | — | 38 | — | |
| π02026.03 | 90 | — | 43 | 63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 49 | 7 | 44 | — | — | |
| π0Training demonstrations=50, Evaluation rollouts=100, Embodiment=dual-arm Aloha AgileX2026.05 | 90 | — | 43 | — | 83 | 96 | 45 | — | 21 | — | — | — | — | — | — | — | — | — | — | — | 44 | 19 | 46.4 | |
| π02026.05 | 90 | — | 43 | 63 | 83 | 96 | 45 | — | 21 | — | — | — | — | — | — | — | — | — | 46.4 | 7 | 44 | 19 | — | |
| π0Refinement=GeCO2026.03 | 86 | — | 52 | 72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50 | 0 | 42 | — | — | |
| RDT2026.03 | 81 | — | 77 | 61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60 | 0 | 80 | — | — | |
| RDTTraining demonstrations=50, Evaluation rollouts=100, Embodiment=dual-arm Aloha AgileX2026.05 | 81 | — | 77 | — | 64 | 74 | 45 | — | 8 | — | — | — | — | — | — | — | — | — | — | — | 80 | 3 | 34.5 | |
| π02026.02 | 70 | — | 80 | 83 | 100 | 93 | 33 | 63 | 73 | 73 | 47 | 60 | 83 | 93 | 63 | 70 | 70 | 87 | 67 | — | — | — | — | |
| PaliGemma_expert2026.02 | 67 | — | 40 | 80 | 73 | 53 | 7 | 37 | 10 | 67 | 10 | 27 | 23 | 90 | 3 | 10 | 30 | 23 | 35.4 | — | — | — | — | |
| π0.52026.02 | 62 | — | 78 | 92 | 89 | 100 | 84 | 100 | 85 | 88 | 21 | 84 | 90 | 89 | 93 | 82 | 83 | 96 | 79.48 | — | — | — | — | |
| Qwen2.5-VL-FASTAction Chunk=32, Steps per Second=6.9hz2026.03 | 53 | — | — | — | — | — | — | — | — | 34 | — | — | — | — | — | — | — | — | — | — | — | 13 | — | |
| QuoVLA2026.05 | 18 | — | 20 | 75 | 35 | 14 | 45 | — | 36 | — | — | — | — | — | — | — | — | — | 45.1 | 43 | 27 | 50 | — | |
| π0.52026.05 | 12 | — | 16 | 74 | 33 | 10 | 43 | — | 35 | — | — | — | — | — | — | — | — | — | 42.98 | 42 | 25 | 48 | — | |
| ACT2026.05 | — | 29.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AIM2026.04 | — | 94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP2026.05 | — | 28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DP32026.05 | — | 55.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-WAM2026.04 | — | 91.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Giga-World2026.04 | — | 87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LingBot-VA2026.04 | — | 92.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Motus2026.04 | — | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDT2026.05 | — | 34.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stage12026.04 | — | 93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| X-VLA2026.04 | — | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| X-VLA2026.05 | — | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| X-VLA+3DVLA2026.05 | — | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.04 | — | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π02026.05 | — | 46.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0.52026.04 | — | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| π0+3DVLA2026.05 | — | 54.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |