Robotic task execution on LIBERO
98.4Average Success Rateπ0.5-ADV
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| π0.5-ADVAction Chunk=16, Steps per Second=37.3hz2026.03 | 98.4 | 98.4 | 99.4 | 98.2 | 97.6 | — | — | — | |
| InternVL3.5-ADVAction Chunk=16, Steps per Second=36.9hz2026.03 | 97.8 | 97.6 | 99.4 | 97.2 | 96.8 | — | — | — | |
| π0.5 + GridS16Vis. Tokens=16, FLOPs (G)=83.84, Time (s)=6.762026.05 | 97.7 | 98.6 | 98.8 | 98.4 | 95.2 | 1 | — | — | |
| Qwen2.5-VL-ADVAction Chunk=16, Steps per Second=41.0hz2026.03 | 96.8 | 96.6 | 98.8 | 97 | 94.6 | — | — | — | |
| π0.5Vis. Tokens=256, FLOPs (G)=249.76, Time (s)=8.542026.05 | 96.7 | 98.4 | 98 | 97.6 | 92.8 | — | — | — | |
| π0.5 + GridS4Vis. Tokens=4, FLOPs (G)=75.73, Time (s)=6.532026.05 | 96.7 | 97.4 | 99 | 97.4 | 92.8 | 0 | — | — | |
| π0.5Action Chunk=16, Steps per Second=61.6hz2026.03 | 96.5 | 97.8 | 98.4 | 96.6 | 93 | — | — | — | |
| π0 + GridS16Vis. Tokens=16, FLOPs (G)=51.65, Time (s)=6.052026.05 | 96 | 98 | 99.2 | 96.4 | 90.2 | 1.6 | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=N/A, Perturbation Family=N/A, Perturbation Type=Clean, Zero-shot robustness=false2026.04 | 95.75 | — | — | — | — | -0.75 | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=Visual, Perturbation Family=Photometric Degradation, Perturbation Type=Color jitter, Zero-shot robustness=false2026.04 | 95.75 | — | — | — | — | 1.25 | — | — | |
| π0 + GridS4Vis. Tokens=4, FLOPs (G)=43.61, Time (s)=5.862026.05 | 95.5 | 96.6 | 99.4 | 96.4 | 89.6 | 1.1 | — | — | |
| OpenVLA-OFTVis. Tokens=512, FLOPs (G)=3922.56, Time (s)=17.432026.05 | 94.8 | 97.6 | 94.2 | 95.2 | 92 | — | — | — | |
| InternVL3.5-DiffusionAction Chunk=16, Steps per Second=57.6hz2026.03 | 94.7 | 95.8 | 96 | 94.2 | 92.8 | — | — | — | |
| π0Vis. Tokens=256, FLOPs (G)=216.01, Time (s)=8.172026.05 | 94.4 | 97.2 | 98.8 | 96 | 85.6 | — | — | — | |
| Qwen2.5-VL-DiffusionAction Chunk=16, Steps per Second=68.4hz2026.03 | 93.9 | 94.6 | 97.2 | 93.8 | 90.2 | — | — | — | |
| π0 + VLA-CacheVis. Tokens=256, FLOPs (G)=188.12, Time (s)=7.52, training-free=true2026.05 | 93.8 | 95.2 | 97.6 | 96.6 | 85.6 | -0.6 | — | — | |
| CogACTVis. Tokens=256, FLOPs (G)=1891.24, Time (s)=13.802026.05 | 93.6 | 97.2 | 98 | 90.2 | 88.8 | — | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=Textual, Perturbation Family=Semantics Drift, Perturbation Type=Spatial, Zero-shot robustness=true2026.04 | 93.5 | — | — | — | — | 0 | — | — | |
| π0 + FastVVis. Tokens=100, FLOPs (G)=143.59, Time (s)=7.32, training-free=true2026.05 | 92.9 | 97 | 98.4 | 93.8 | 82.4 | -1.5 | — | — | |
| π_0 (STRONG)Perturbation Modality=N/A, Perturbation Family=N/A, Perturbation Type=Clean, Zero-shot robustness=false2026.04 | 92.5 | — | — | — | — | 2.75 | — | — | |
| π_0 (STRONG)Perturbation Modality=Textual, Perturbation Family=Semantics Drift, Perturbation Type=Spatial, Zero-shot robustness=true2026.04 | 92.25 | — | — | — | — | 0.75 | — | — | |
| π_0 (STRONG)Perturbation Modality=Visual, Perturbation Family=Photometric Degradation, Perturbation Type=Color jitter, Zero-shot robustness=false2026.04 | 90.75 | — | — | — | — | -0.75 | — | — | |
| π_0 (STRONG)Perturbation Modality=Textual, Perturbation Family=Adversarial Injection, Perturbation Type=Suffix, Zero-shot robustness=false2026.04 | 90.25 | — | — | — | — | 21.5 | — | — | |
| π0 + SparseVLMVis. Tokens=100, FLOPs (G)=150.30, Time (s)=7.48, training-free=true2026.05 | 89.8 | 93.4 | 98 | 91.2 | 76.6 | -4.6 | — | — | |
| InternVL3.5-FASTAction Chunk=16, Steps per Second=3.2hz2026.03 | 89.6 | 89.6 | 92.8 | 93.6 | 82.8 | — | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=Visual, Perturbation Family=Geometric Shifts, Perturbation Type=Random crop, Zero-shot robustness=false2026.04 | 89.5 | — | — | — | — | 7 | — | — | |
| Qwen2.5-VL-FASTAction Chunk=16, Steps per Second=5.0hz2026.03 | 87.9 | 90.2 | 88.6 | 96.2 | 76.4 | — | — | — | |
| π_0 (STRONG)Perturbation Modality=Multimodal, Perturbation Family=N/A, Perturbation Type=Prefix adversarial injection + Color jitter, Zero-shot robustness=false2026.04 | 87.5 | — | — | — | — | 39.75 | — | — | |
| π_0 (STRONG)Perturbation Modality=Visual, Perturbation Family=Geometric Shifts, Perturbation Type=Random crop, Zero-shot robustness=false2026.04 | 83.75 | — | — | — | — | 11 | — | — | |
| Oracle abstention (upper bound)epsilon=0.05, Number of cells=2502026.05 | 83 | — | — | — | — | — | 0 | 91 | |
| SmolVLAVis. Tokens=64, FLOPs (G)=306.78, Time (s)=8.912026.05 | 79 | 81.3 | 92.9 | 85.8 | 55.8 | — | — | — | |
| OpenVLAVis. Tokens=256, FLOPs (G)=1956.19, Time (s)=26.082026.05 | 76.5 | 84.7 | 88.4 | 79.2 | 53.7 | — | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=Textual, Perturbation Family=Adversarial Injection, Perturbation Type=Suffix, Zero-shot robustness=false2026.04 | 72.25 | — | — | — | — | 70.5 | — | — | |
| BOKBO globalepsilon=0.05, Number of cells=2502026.05 | 71 | — | — | — | — | — | 3.1 | 80 | |
| OpenVLA (STRONG)Perturbation Modality=N/A, Perturbation Family=N/A, Perturbation Type=Clean, Zero-shot robustness=false2026.04 | 69.25 | — | — | — | — | -1 | — | — | |
| Held-out threshold (no guarantee)epsilon=0.05, Number of cells=2502026.05 | 69 | — | — | — | — | — | 3.4 | 79 | |
| BOKBO Mondrianepsilon=0.05, Number of cells=2502026.05 | 69 | — | — | — | — | — | 3.4 | 74 | |
| OpenVLA (STRONG)Perturbation Modality=Textual, Perturbation Family=Semantics Drift, Perturbation Type=Spatial, Zero-shot robustness=true2026.04 | 68.25 | — | — | — | — | 3.75 | — | — | |
| OpenVLA (STRONG)Perturbation Modality=Visual, Perturbation Family=Photometric Degradation, Perturbation Type=Color jitter, Zero-shot robustness=false2026.04 | 68.25 | — | — | — | — | 1.75 | — | — | |
| No abstention (K-sample only)epsilon=0.05, Number of cells=2502026.05 | 68 | — | — | — | — | — | 8.6 | 100 | |
| OpenVLA (STRONG)Perturbation Modality=Multimodal, Perturbation Family=N/A, Perturbation Type=Prefix adversarial injection + Color jitter, Zero-shot robustness=false2026.04 | 66.25 | — | — | — | — | 9.5 | — | — | |
| OpenVLA (STRONG)Perturbation Modality=Textual, Perturbation Family=Adversarial Injection, Perturbation Type=Suffix, Zero-shot robustness=false2026.04 | 66 | — | — | — | — | 30 | — | — | |
| OpenVLA-OFT (STRONG)Perturbation Modality=Multimodal, Perturbation Family=N/A, Perturbation Type=Prefix adversarial injection + Color jitter, Zero-shot robustness=false2026.04 | 65.75 | — | — | — | — | 41.5 | — | — | |
| OpenVLA (STRONG)Perturbation Modality=Visual, Perturbation Family=Geometric Shifts, Perturbation Type=Random crop, Zero-shot robustness=false2026.04 | 5.5 | — | — | — | — | 0.25 | — | — |