Single-Arm Manipulation on ManiSkill3 (Out-Of-Distribution)
95.6Vision ScoreOpenVLA-OFT + Feat2Go
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| OpenVLA-OFT + Feat2GoTraining Protocol=RL-aligned VLA2026.05 | 95.6 | 70.3 | 82.9 | 82.9 | |
| OpenVLA-OFTTraining Protocol=PPO2026.05 | 92.1 | 64.8 | 73.6 | 76.8 | |
| OpenVLA-OFTTraining Protocol=GRPO2026.05 | 84.7 | 45.5 | 44.7 | 58.3 | |
| π0.5Training Protocol=Flow-Noise2026.05 | 69.9 | 35.5 | 54.9 | 53.4 | |
| π0.5Training Protocol=Flow-SDE2026.05 | 68 | 34.5 | 45.4 | 49.3 | |
| π0Training Protocol=Flow-Noise2026.05 | 63.4 | 23.1 | 24.2 | 36.9 | |
| π0Training Protocol=Flow-SDE2026.05 | 61.1 | 25.4 | 31.5 | 39.3 | |
| π0.5Training Protocol=SFT2026.05 | 40.2 | 16.6 | 22.4 | 26.4 | |
| π0Training Protocol=SFT2026.05 | 32.6 | 8.4 | 13.2 | 18.1 | |
| OpenVLA-OFTTraining Protocol=SFT2026.05 | 27.7 | 13 | 11.7 | 17.5 |