Robotic Manipulation on SimplerEnv-WindowsX visual matching
63Carrot on Plate Final Success RateUniJEPA
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| UniJEPASize=2.9B2025.10 | 63 | 75 | 100 | 89.6 | 83.3 | 78.8 | 91.7 | 52.5 | 71 | |
| CogActSize=7B2025.10 | 58.3 | — | — | 45.8 | — | 29.2 | — | 95.8 | 57.3 | |
| GR00T-N1.5Size=3B2025.10 | 54.3 | — | — | 61.3 | — | 75.3 | — | 57 | 62 | |
| π0Size=2.6B, reproduced=true2025.10 | 48.8 | 58.5 | 78.8 | 64.6 | 83.3 | 73.3 | 62.5 | 12.5 | 49.8 | |
| Villa-xSize=3B2025.10 | 46.3 | — | — | 64.6 | — | 77.9 | — | 61.3 | 62.5 | |
| π0-FastSize=2.6B2025.10 | 21.9 | 58.5 | 83.3 | 66.6 | 62.5 | 29.1 | 54 | 10.8 | 48.3 | |
| RoboVLMsSize=2B2025.10 | 20.8 | 33.3 | 91.7 | 79.2 | 70.8 | 45.8 | 54.2 | 4.2 | 37.5 | |
| Octo-BaseSize=0.1B2025.10 | 8.3 | 52.8 | 66.7 | 43.1 | 34.7 | 12.5 | 31.9 | 0 | 16 | |
| RT-1-XSize=35M2025.10 | 4.2 | 20.8 | 0 | 0 | 16.7 | 0 | 8.3 | 0 | 1.1 | |
| OpenVLA-OFTSize=7B2025.10 | 4.2 | 41.7 | 91.7 | 37.5 | 50 | 12.5 | 70.8 | 8.3 | 39.6 |