Robotic Manipulation on SimplerEnv Google Robot tasks (test)
85.4Visual Matching (Pick Coke)Discrete Diffusion VLA
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Discrete Diffusion VLA2025.12 | 85.4 | 67.5 | 60.6 | 71.2 | 82.5 | 64.6 | 23.6 | 56.9 | 64.1 | |
| STAIR2026.06 | 84 | 72.5 | 62.3 | 72.9 | 81.9 | 75 | 27.3 | 61.4 | 67.2 | |
| Dream-VLA2025.12 | 80.3 | 78.3 | 40.7 | 66.5 | 70.5 | 66.3 | 27 | 54.6 | 60.5 | |
| RT-2-X2025.12 | 78.7 | 77.9 | 25 | 60.7 | 82.3 | 79.2 | 35.3 | 64.3 | 62.5 | |
| RoboVLM2025.12 | 77.3 | 61.7 | 43.5 | 63.4 | 75.6 | 60 | 10.6 | 51.3 | 57.4 | |
| π0+FAST2025.12 | 75.3 | 67.5 | 42.9 | 61.9 | 77.6 | 68.2 | 31.3 | 59 | 60.5 | |
| π0-FAST2026.06 | 75.3 | 67.5 | 42.9 | 61.9 | 77.6 | 68.2 | 31.3 | 59 | 60.5 | |
| Moto2025.12 | 74 | 60.4 | 43.1 | 59.2 | — | — | — | — | — | |
| Moto2026.06 | 74 | 60.4 | 43.1 | 59.2 | — | — | — | — | — | |
| π02025.12 | 72.7 | 65.3 | 38.3 | 58.8 | 75.2 | 63.7 | 25.6 | 54.8 | 56.8 | |
| π02026.06 | 72.7 | 65.3 | 38.3 | 58.8 | 75.2 | 63.7 | 25.6 | 54.8 | 56.8 | |
| OpenVLA-OFT2025.12 | 72.3 | 69.6 | 47.2 | 63 | 65.3 | 59 | 12.2 | 45.5 | 54.3 | |
| RT-1-X2025.12 | 56.7 | 31.7 | 59.7 | 53.4 | 49 | 32.3 | 29.4 | 39.6 | 46.5 | |
| RT-1-X2026.06 | 56.7 | 31.7 | 59.7 | 53.4 | 49 | 32.3 | 29.4 | 39.7 | 46.6 | |
| HPT2025.12 | 56 | 60 | 24 | 46 | — | — | — | — | — | |
| GR00T-N12025.12 | 47 | 70 | 18.1 | 45 | 78.8 | 62.5 | 13.2 | 51.5 | 48.4 | |
| GR00T-N12026.06 | 47 | 70 | 18.1 | 45 | 78.8 | 62.5 | 13.2 | 51.5 | 48.4 | |
| TraceVLA2025.12 | 28 | 53.7 | 57 | 42 | 60 | 56.4 | 31 | 45 | 43.5 | |
| Octo-Base2025.12 | 17 | 4.2 | 22.7 | 16.8 | 0.6 | 3.1 | 1.1 | 1.1 | 9 | |
| Octo-Base2026.06 | 17 | 4.2 | 22.7 | 16.8 | 0.6 | 3.1 | 1.1 | 1.2 | 9 | |
| OpenVLA2025.12 | 16.3 | 46.2 | 35.6 | 27.7 | 54.5 | 47.7 | 17.7 | 39.8 | 33.8 | |
| OpenVLA2026.06 | 16.3 | 46.2 | 35.6 | 32.7 | 54.5 | 47.7 | 17.7 | 39.8 | 33.8 |