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Benchmarks
Robot Manipulation on Open6DOR V2
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1.4
Position Tracking Error (Level 0)
SpatialVLA
-1.528
18.236
38
57.764
Apr 10, 2026
Position Tracking Error (Level 0)
Position Tracking Error (Level 1)
Position Tracking Error (Overall)
Rotation Tracking Error (Level 0)
Rotation Tracking Error (Level 1)
Rotation Tracking Error (Level 2)
Rotation Tracking Error (Overall)
6-DoF Tracking Error (Position)
6-DoF Tracking Error (Rotation)
6-DoF Tracking Error (Overall)
Updated 5d ago
Evaluation Results
Method
Method
Links
Position Tracking Error (Level 0)
Position Tracking Error (Level 1)
Position Tracking Error (Overall)
Rotation Tracking Error (Level 0)
Rotation Tracking Error (Level 1)
Rotation Tracking Error (Level 2)
Rotation Tracking Error (Overall)
6-DoF Tracking Error (Position)
6-DoF Tracking Error (Rotation)
6-DoF Tracking Error (Overall)
SpatialVLA
2026.04
1.4
3.4
2
0
0
0
0
2.5
0.6
0.6
OpenVLA
2026.04
4.9
6.9
5.5
0
0
0
0
4.1
4.2
4.1
SoFar
2026.04
73.9
69
72.5
15.6
30.6
36.4
25.3
62.3
17.1
12.9
Closed-Loop VLM Agents
2026.04
74.6
70.7
73.5
26.6
41.7
40.9
35.4
56.5
22.9
14.1
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