Success Rate Evaluation on VLABench
46.3Average Success RateVLA-IAP
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| VLA-IAPToken Retention Ratio=70%, Pruning Ratio=30%2026.03 | 46.3 | — | — | — | — | — | 55 | 36 | 48 | |
| VanillaBase Model=Vanilla, Token Retention Ratio=100%2026.03 | 46 | — | — | — | — | — | 56 | 30 | 52 | |
| VLA-IAPToken Retention Ratio=50%, Pruning Ratio=50%2026.03 | 41 | — | — | — | — | — | 48.9 | 32 | 42 | |
| VLA-CacheToken Retention Ratio=70%, Pruning Ratio=30%2026.03 | 40.7 | — | — | — | — | — | 42 | 32 | 48 | |
| π0 with GeCORefinement Method=GeCO2026.03 | 36 | 61 | 22 | 34 | 20 | 45 | — | — | — | |
| SparseVLMToken Retention Ratio=70%, Pruning Ratio=30%2026.03 | 36 | — | — | — | — | — | 50 | 32 | 26 | |
| FastVToken Retention Ratio=70%, Pruning Ratio=30%2026.03 | 34.6 | — | — | — | — | — | 44 | 28 | 32 | |
| VLA-IAPToken Retention Ratio=30%, Pruning Ratio=70%2026.03 | 33.3 | — | — | — | — | — | 46 | 32 | 22 | |
| π02026.03 | 29.4 | 47 | 21.2 | 29.1 | 17.3 | 32.2 | — | — | — | |
| π0.52026.03 | 24.5 | 40.6 | 22.6 | 18 | 16.1 | 25.6 | — | — | — | |
| VLA-CacheToken Retention Ratio=50%, Pruning Ratio=50%2026.03 | 19.3 | — | — | — | — | — | 16.8 | 30 | 11.3 | |
| SparseVLMToken Retention Ratio=50%, Pruning Ratio=50%2026.03 | 15.3 | — | — | — | — | — | 14 | 30 | 2 | |
| SparseVLMToken Retention Ratio=30%, Pruning Ratio=70%2026.03 | 15.3 | — | — | — | — | — | 18 | 26 | 2 | |
| FastVToken Retention Ratio=50%, Pruning Ratio=50%2026.03 | 13.3 | — | — | — | — | — | 16 | 22 | 2 | |
| DivPruneToken Retention Ratio=70%, Pruning Ratio=30%2026.03 | 10 | — | — | — | — | — | 6 | 22 | 2 | |
| DivPruneToken Retention Ratio=50%, Pruning Ratio=50%2026.03 | 9.3 | — | — | — | — | — | 4 | 22 | 2 | |
| VLA-CacheToken Retention Ratio=30%, Pruning Ratio=70%2026.03 | 8 | — | — | — | — | — | 0 | 24 | 0 | |
| FastVToken Retention Ratio=30%, Pruning Ratio=70%2026.03 | 7.3 | — | — | — | — | — | 0 | 22 | 0 | |
| DivPruneToken Retention Ratio=30%, Pruning Ratio=70%2026.03 | 6.7 | — | — | — | — | — | 4 | 16 | 0 |