# Visuomotor Control on LIBERO

Source: [Visuomotor Control on LIBERO](<https://www.sota2.com/research/sota/visuomotor-control-on-libero>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-16T09:36:14.659Z

Evaluation of visuomotor control performance on the LIBERO dataset, reporting key metrics including Spatial, Object, Goal, Long, and Average achievement scores.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Visuomotor Control |
| Dataset (including any stated split) | LIBERO |
| Metric | Spatial Score |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 29 of 29 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Spatial Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=Spatial%20Score>): Higher is better; unit: PERCENT.

- [Object Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=Object%20Score>): Higher is better; unit: PERCENT.

- [Goal Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=Goal%20Score>): Higher is better; unit: PERCENT.

- [Long Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=Long%20Score>): Higher is better; unit: PERCENT.

- [Average Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=Average%20Score>): Higher is better; unit: PERCENT.

- [LIBERO-90 Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=LIBERO-90%20Score>): Higher is better; unit: PERCENT.

- [LIBERO-10 Score](<https://www.sota2.com/research/sota/visuomotor-control-on-libero.md?metric=LIBERO-10%20Score>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Spatial Score | Result date | Report paper |
| --- | --- | --- | --- |
| π0.5 | 98.8 | Not recorded | 69f433b755a3c32af89fd280 |
| ABot-M0 | 98.8 | Not recorded | 69f433b755a3c32af89fd280 |
| PRTS | 98.8 | Not recorded | 69f433b755a3c32af89fd280 |
| ABot-M0 | 98.6 | Not recorded | 69f433b755a3c32af89fd280 |
| F1-VLA | 98.2 | Not recorded | 69f433b755a3c32af89fd280 |
| X-VLA | 98.2 | Not recorded | 69f433b755a3c32af89fd280 |
| InternVLA-M1 | 98 | Not recorded | 69f433b755a3c32af89fd280 |
| GR00T-N1.6 | 97.7 | Not recorded | 69f433b755a3c32af89fd280 |
| OpenVLA-OFT | 97.6 | Not recorded | 69f433b755a3c32af89fd280 |
| Discrete Diffusion VLA | 97.2 | Not recorded | 69f433b755a3c32af89fd280 |
| π0 | 96.8 | Not recorded | 69f433b755a3c32af89fd280 |
| π0-Fast | 96.4 | Not recorded | 69f433b755a3c32af89fd280 |
| π0-FAST | 96.4 | Not recorded | 6a279e9590966ade919bfcff |
| Qwen3-VL-PI | 95.2 | Not recorded | 69f433b755a3c32af89fd280 |
| GR00T-N1 | 94.4 | Not recorded | 69f433b755a3c32af89fd280 |
| PRISM | 92 | Not recorded | 6a30d8ffd33dfb23e783d142 |
| π0 | 90 | Not recorded | 6a279e9590966ade919bfcff |
| CT-VAM | 89 | Not recorded | 6a279e9590966ade919bfcff |
| SpatialVLA | 88.2 | Not recorded | 69f433b755a3c32af89fd280 |
| SpatialVLA | 88.2 | Not recorded | 6a279e9590966ade919bfcff |
| CoT-VLA | 87.5 | Not recorded | 69f433b755a3c32af89fd280 |
| OpenVLA | 85 | Not recorded | 6a30d8ffd33dfb23e783d142 |
| PRISM | 85 | Not recorded | 6a30d8ffd33dfb23e783d142 |
| OpenVLA | 84.7 | Not recorded | 69f433b755a3c32af89fd280 |
| OpenVLA | 84.7 | Not recorded | 6a279e9590966ade919bfcff |
| Diffusion Policy | 78.5 | Not recorded | 69f433b755a3c32af89fd280 |
| MDT | 78.5 | Not recorded | 6a279e9590966ade919bfcff |
| Diffusion Policy | 78.3 | Not recorded | 6a279e9590966ade919bfcff |
| Diffusion Policy | 78 | Not recorded | 6a30d8ffd33dfb23e783d142 |

### π0.5

Spatial Score: 98.8. Result ID: 69f45f2c47f34ce924da2c5a.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa783a1e209131cea774f1.md>)

Recorded evaluation configuration: {"Batch size":"256","Post-training steps":"30K"}. This record does not assert independent reproduction.

### ABot-M0

Spatial Score: 98.8. Result ID: 69f45f2c47f34ce924da2c5c.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/698eb026c97a0b3e3b5e6786.md>)

[Implementation](<https://github.com/amap-cvlab/ABot-Manipulation>)

Recorded evaluation configuration: {"Batch size":"64","Post-training steps":"40K"}. This record does not assert independent reproduction.

### PRTS

Spatial Score: 98.8. Result ID: 69f45f2c47f34ce924da2c5d.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

Recorded evaluation configuration: {"Batch size":"32","Post-training steps":"30K"}. This record does not assert independent reproduction.

### ABot-M0

Spatial Score: 98.6. Result ID: 69f45f2c47f34ce924da2c5b.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/698eb026c97a0b3e3b5e6786.md>)

[Implementation](<https://github.com/amap-cvlab/ABot-Manipulation>)

Recorded evaluation configuration: {"Batch size":"32","Post-training steps":"30K"}. This record does not assert independent reproduction.

### F1-VLA

Spatial Score: 98.2. Result ID: 69f45f2c47f34ce924da2c51.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b2a1e209131cea86f0a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### X-VLA

Spatial Score: 98.2. Result ID: 69f45f2c47f34ce924da2c56.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c091e209131cea8c027.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### InternVLA-M1

Spatial Score: 98. Result ID: 69f45f2c47f34ce924da2c52.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c2d1e209131cea8ce17.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GR00T-N1.6

Spatial Score: 97.7. Result ID: 69f45f2c47f34ce924da2c54.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779a1e209131cea74489.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OpenVLA-OFT

Spatial Score: 97.6. Result ID: 69f45f2c47f34ce924da2c55.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78471e209131cea7794b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Discrete Diffusion VLA

Spatial Score: 97.2. Result ID: 69f45f2c47f34ce924da2c53.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7af91e209131cea86111.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### π0

Spatial Score: 96.8. Result ID: 69f45f2c47f34ce924da2c58.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75aa1e209131cea6929a.md>)

Recorded evaluation configuration: {"Batch size":"32","Post-training steps":"30K"}. This record does not assert independent reproduction.

### π0-Fast

Spatial Score: 96.4. Result ID: 69f45f2c47f34ce924da2c57.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76951e209131cea6de09.md>)

Recorded evaluation configuration: {"Batch size":"32","Post-training steps":"30K"}. This record does not assert independent reproduction.

### π0-FAST

Spatial Score: 96.4. Result ID: 6a27f588fbc373592c25b196.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76951e209131cea6de09.md>)

Recorded evaluation configuration: {"Params":"3300M","Policy Category":"Policy With VLM"}. This record does not assert independent reproduction.

### Qwen3-VL-PI

Spatial Score: 95.2. Result ID: 69f45f2c47f34ce924da2c59.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69d5e11f7d0172140ec75af3.md>)

Recorded evaluation configuration: {"Batch size":"32","Post-training steps":"30K"}. This record does not assert independent reproduction.

### GR00T-N1

Spatial Score: 94.4. Result ID: 69f45f2c47f34ce924da2c50.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779a1e209131cea74489.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PRISM

Spatial Score: 92. Result ID: 6a3118f9fbc373592c2dcf0a.

[Reporting paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

Recorded evaluation configuration: {"Memory Size (n)":"256","Fine-tuning":"true"}. This record does not assert independent reproduction.

### π0

Spatial Score: 90. Result ID: 6a27f588fbc373592c25b197.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75aa1e209131cea6929a.md>)

Recorded evaluation configuration: {"Params":"3300M","Policy Category":"Policy With VLM"}. This record does not assert independent reproduction.

### CT-VAM

Spatial Score: 89. Result ID: 6a27f588fbc373592c25b19a.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

Recorded evaluation configuration: {"Params":"68M","Policy Category":"Policy Without VLM"}. This record does not assert independent reproduction.

### SpatialVLA

Spatial Score: 88.2. Result ID: 69f45f2c47f34ce924da2c4e.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78951e209131cea79169.md>)

[Implementation](<https://spatialvla.github.io/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SpatialVLA

Spatial Score: 88.2. Result ID: 6a27f588fbc373592c25b195.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78951e209131cea79169.md>)

[Implementation](<https://spatialvla.github.io/>)

Recorded evaluation configuration: {"Params":"4000M","Policy Category":"Policy With VLM"}. This record does not assert independent reproduction.

### CoT-VLA

Spatial Score: 87.5. Result ID: 69f45f2c47f34ce924da2c4f.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779e1e209131cea74651.md>)

[Implementation](<https://cot-vla.github.io/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OpenVLA

Spatial Score: 85. Result ID: 6a3118f9fbc373592c2dcf07.

[Reporting paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c31e209131cea63a36.md>)

[Implementation](<https://openvla.github.io/>)

Recorded evaluation configuration: {"Fine-tuning":"true"}. This record does not assert independent reproduction.

### PRISM

Spatial Score: 85. Result ID: 6a3118f9fbc373592c2dcf09.

[Reporting paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

Recorded evaluation configuration: {"Memory Configuration":"no memory","Fine-tuning":"true"}. This record does not assert independent reproduction.

### OpenVLA

Spatial Score: 84.7. Result ID: 69f45f2c47f34ce924da2c4d.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c31e209131cea63a36.md>)

[Implementation](<https://openvla.github.io/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OpenVLA

Spatial Score: 84.7. Result ID: 6a27f588fbc373592c25b194.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c31e209131cea63a36.md>)

[Implementation](<https://openvla.github.io/>)

Recorded evaluation configuration: {"Params":"7000M","Policy Category":"Policy With VLM"}. This record does not assert independent reproduction.

### Diffusion Policy

Spatial Score: 78.5. Result ID: 69f45f2c47f34ce924da2c4c.

[Reporting paper](<https://www.sota2.com/research/paper/69f433b755a3c32af89fd280.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72841e209131cea56f68.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### MDT

Spatial Score: 78.5. Result ID: 6a27f588fbc373592c25b199.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74021e209131cea5f305.md>)

Recorded evaluation configuration: {"Params":"∼225M","Policy Category":"Policy Without VLM"}. This record does not assert independent reproduction.

### Diffusion Policy

Spatial Score: 78.3. Result ID: 6a27f588fbc373592c25b198.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e9590966ade919bfcff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72841e209131cea56f68.md>)

Recorded evaluation configuration: {"Policy Category":"Policy Without VLM"}. This record does not assert independent reproduction.

### Diffusion Policy

Spatial Score: 78. Result ID: 6a3118f9fbc373592c2dcf08.

[Reporting paper](<https://www.sota2.com/research/paper/6a30d8ffd33dfb23e783d142.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72841e209131cea56f68.md>)

Recorded evaluation configuration: {"Fine-tuning":"true"}. This record does not assert independent reproduction.

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