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Robot Manipulation on SimplerEnv Google Robot tasks Visual Matching

98.1Pick Coke Can Success Rate

Green-VLA

Updated 4d ago

Evaluation Results

Method
Green-VLA 2026.01	98.1	50.8	61	69.9	-	-	-	-	-	-
ST4VLA 2026.02	97.3	98	65.3	84.6	-	-	-	-	77.8	-
EcoVLA 2026.01	95	82.1	70.8	71.7	38.9	1.45	72.65	1.44	-	-
Green-VLA 2026.01	95	58.7	47	66.9	-	-	-	-	-	-
NORA-1.5 (DPO) 2026.02	94	88	66.4	82.8	-	-	-	-	-	-
NORA-Long RFT (Ours) 2026.02	94	84.7	58.5	79.1	-	-	-	-	-	-
Vanilla 2026.01	93.3	83.8	74.5	73.3	41.7	1.81	104.16	1	-	-
EcoVLA 2026.01	93	85.4	73.5	73.6	42.6	1.25	66.43	1.57	-	-
NORA-1.5 2026.02	92.8	78.7	62.2	77.9	-	-	-	-	-	-
LAC 2026.01	92.3	84.2	72.7	75.5	-	1.511	37.82	-	52.8	-
ThinkAct 2026.02	92	72.4	50	71.5	-	-	-	-	-	-
VLA-Cache 2026.01	92	83.3	70.5	74.4	-	1.496	39.63	-	51.6	-
CogACT 2026.02	91.3	85	71.8	74.8	-	-	-	-	50.9	-
Vanilla Co-training VLA 2026.02	91.3	75.1	55	70.2	-	-	-	-	59.4	-
Baseline (CogAct) 2026.01	91.3	85	71.8	74.8	-	1.847	54.29	-	50.9	-
Green-VLA 2026.01	90.4	61.2	62.9	71.4	-	-	-	-	-	-
Vanilla VLA 2026.02	90	69.8	52.5	66.1	-	-	-	-	52.2	-
NORA-1.5-FAST 2026.02	88.6	86.4	41.2	72.1	-	-	-	-	-	-
VLA-JEPA 2026.02	88.3	64.1	59.3	65.2	-	-	-	-	-	49.1
pi_0_star 2025.01	88	80.3	56	70.1	-	-	-	-	-	-
SpatialVLA 2025.01	86	77.9	57.4	75.1	-	-	-	-	-	-
SpatialVLA 2026.02	86	77.9	57.4	73.7	-	-	-	-	-	-
NORA-Long (Baseline) 2026.02	86	82.3	56	74.7	-	-	-	-	-	-
SpatialVLA 2026.02	86	77.9	57.4	75.1	-	-	-	-	-	-
RT-1 2025.01	85.7	44.2	73	74.6	-	-	-	-	-	-
RT-1 2026.02	85.7	44.2	73	52.4	-	-	-	-	6.5	-
VLA-JEPA (w/o human videos) 2026.02	85.3	66.7	75.5	78.4	-	-	-	-	-	86.1
Magma 2026.02	83.7	65.4	56	52.9	-	-	-	-	6.4	-
villa-x 2026.02	81.7	55.4	38.4	44.9	-	-	-	-	-	4.2
SpatialVLA 2025.01	81	69.6	59.3	71.9	-	-	-	-	-	-
RT-2-X 2025.01	78.7	77.9	25	60.7	-	-	-	-	-	-
RT-2-X 2026.02	78.7	77.9	25	46.3	-	-	-	-	3.7	-
RoboVLM 2025.01	77.3	61.7	43.5	63.4	-	-	-	-	-	-
RoboVLM 2026.02	77.3	61.7	43.5	63.4	-	-	-	-	-	-
RoboVLMs 2026.02	77.3	61.7	43.5	51.7	-	-	-	-	-	24.1
π0-FAST 2026.02	75.3	67.5	42.6	61.9	-	-	-	-	-	-
π0-FAST 2026.02	75.3	67.5	42.9	61.9	-	-	-	-	-	-
π0-Fast 2026.02	75.3	67.5	42.9	-	-	-	-	-	-	-
MoTo 2026.02	74	60.4	43.1	-	-	-	-	-	-	-
RoboVLM 2025.01	72.7	66.3	26.8	56.3	-	-	-	-	-	-
π0 2026.02	72.7	65.3	38.3	58.7	-	-	-	-	-	-
π0 2026.02	72.7	65.3	38.3	58.8	-	-	-	-	-	-
π0 2026.02	72.7	65.3	38.3	-	-	-	-	-	-	-
pi_0 2026.01	72.7	65.3	38.3	58.8	-	-	-	-	-	-
RT-1 2025.01	71	35.4	56.5	60.2	-	-	-	-	-	-
GR00T N1.5 2026.02	69.3	68.7	35.8	52.4	-	-	-	-	-	-
RT-1-X 2025.01	56.7	31.7	59.7	53.4	-	-	-	-	-	-
RT-1-X 2026.02	56.7	31.7	59.7	53.4	-	-	-	-	-	-
RT-1-X 2026.02	56.7	31.7	59.7	42.4	-	-	-	-	21.3	-
RT-1-X 2026.01	56.7	31.7	59.7	53.4	-	-	-	-	-	-
HPT 2025.01	56	60	24	46	-	-	-	-	-	-
GR00T N1.5 2026.02	51.7	54	27.8	35.2	-	-	-	-	7.4	-
TraceVLA 2025.01	28	53.7	57	42	-	-	-	-	-	-
TraceVLA 2026.02	28	53.7	57	42	-	-	-	-	-	-
OpenVLA 2026.02	18	56.3	63	34.3	-	-	-	-	0	-
Octo-Base 2025.01	17	4.2	22.7	16.8	-	-	-	-	-	-
Octo-Base 2026.02	17	4.2	22.7	16.8	-	-	-	-	-	-
OpenVLA 2025.01	16.3	46.2	35.6	27.7	-	-	-	-	-	-
OpenVLA 2026.02	16.3	46.2	35.6	27.7	-	-	-	-	-	-
OpenVLA 2026.01	16.3	46.2	35.6	27.7	-	-	-	-	-	-
RT-1 2025.01	2.7	5	13.9	6.8	-	-	-	-	-	-
GR00T N1 2026.02	0.7	1.9	2.9	1.4	-	-	-	-	-	0