Visuomotor Control on LIBERO
98.8Spatial Scoreπ0.5
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| π0.5Batch size=256, Post-training steps=30K2026.04 | 98.8 | 98.2 | 98 | 92.4 | 96.9 | — | — | |
| ABot-M0Batch size=64, Post-training steps=40K2026.04 | 98.8 | 99.8 | 99 | 96.6 | 98.6 | — | — | |
| PRTSBatch size=32, Post-training steps=30K2026.04 | 98.8 | 99.8 | 98.4 | 96.6 | 98.4 | — | — | |
| ABot-M0Batch size=32, Post-training steps=30K2026.04 | 98.6 | 99.6 | 98.6 | 94.8 | 97.9 | — | — | |
| F1-VLA2026.04 | 98.2 | 97.8 | 95.4 | 91.3 | 95.7 | — | — | |
| X-VLA2026.04 | 98.2 | 98.6 | 97.8 | 97.6 | 98.1 | — | — | |
| InternVLA-M12026.04 | 98 | 99 | 93.8 | 92.6 | 95.9 | — | — | |
| GR00T-N1.62026.04 | 97.7 | 98.5 | 97.5 | 94.4 | 97 | — | — | |
| OpenVLA-OFT2026.04 | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 | — | — | |
| Discrete Diffusion VLA2026.04 | 97.2 | 98.6 | 97.4 | 92 | 96.3 | — | — | |
| π0Batch size=32, Post-training steps=30K2026.04 | 96.8 | 98.8 | 95.8 | 85.2 | 94.2 | — | — | |
| π0-FastBatch size=32, Post-training steps=30K2026.04 | 96.4 | 96.8 | 88.6 | 60.2 | 85.5 | — | — | |
| π0-FASTParams=3300M, Policy Category=Policy With VLM2026.06 | 96.4 | 96.8 | 88.6 | 60.2 | 85.5 | — | — | |
| Qwen3-VL-PIBatch size=32, Post-training steps=30K2026.04 | 95.2 | 99 | 96.2 | 88.4 | 94.7 | — | — | |
| GR00T-N12026.04 | 94.4 | 97.6 | 93 | 90.6 | 93.9 | — | — | |
| PRISMMemory Size (n)=256, Fine-tuning=true2026.06 | 92 | 93 | 95 | — | 89 | 85 | 81 | |
| π0Params=3300M, Policy Category=Policy With VLM2026.06 | 90 | 86 | 95 | 73 | 86 | — | — | |
| CT-VAMParams=68M, Policy Category=Policy Without VLM2026.06 | 89 | 94.6 | 78.4 | 66.2 | 82.1 | — | — | |
| SpatialVLA2026.04 | 88.2 | 89.9 | 78.6 | 55.5 | 78.1 | — | — | |
| SpatialVLAParams=4000M, Policy Category=Policy With VLM2026.06 | 88.2 | 89.9 | 78.6 | 55.5 | 78.1 | — | — | |
| CoT-VLA2026.04 | 87.5 | 91.6 | 87.6 | 69 | 83.9 | — | — | |
| OpenVLAFine-tuning=true2026.06 | 85 | 88 | 79 | — | 74 | 62 | 54 | |
| PRISMMemory Configuration=no memory, Fine-tuning=true2026.06 | 85 | 89 | 61 | — | 77 | 77 | 75 | |
| OpenVLA2026.04 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | — | |
| OpenVLAParams=7000M, Policy Category=Policy With VLM2026.06 | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 | — | — | |
| Diffusion Policy2026.04 | 78.5 | 87.5 | 73.5 | 64.8 | 76.1 | — | — | |
| MDTParams=∼225M, Policy Category=Policy Without VLM2026.06 | 78.5 | 87.5 | 73.5 | 64.8 | 76.1 | — | — | |
| Diffusion PolicyPolicy Category=Policy Without VLM2026.06 | 78.3 | 92.5 | 68.3 | 50.5 | 72.4 | — | — | |
| Diffusion PolicyFine-tuning=true2026.06 | 78 | 93 | 68 | — | — | — | 72 |