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Robot Policy Learning on LIBERO

99.5S (Spatial) Rate

GR00T-N1.6-ft + World2Act

Updated 24d ago

Evaluation Results

Method
GR00T-N1.6-ft + World2Act 2026.03	99.5	100	98.8	94	98.1	-	-	-
GR00T-N1.6-ft + DreamGen 2026.03	99.1	82.6	99.2	87.6	92.6	-	-	-
VLANeXt 2026.02	99	99.2	96.6	94.6	97.4	-	-	-
π0.5 2026.03	98.8	98.2	98	92.4	96.9	-	-	-
Cosmos Policy 2026.03	98.1	100	98.2	97.6	98.5	-	-	-
π0.5 2026.03	98	98	98	92	97	-	-	-
LAR-MoE16 2026.03	98	99	96	88	95.2	-	-	-
Cosmos Policy + World2Act 2026.03	98	100	98.3	98	98.6	-	-	-
GR00T-N1.6-ft 2026.03	97.7	98.4	97.5	94.3	97	-	-	-
OpenVLA-OFT 2026.02	97.6	98.4	97.9	94.5	97.1	-	-	-
OpenVLA-OFT 2026.03	97.6	98.4	97.9	94.5	97.1	-	-	-
FLOWER 2026.02	97.5	99.1	96.1	94.9	96.9	-	-	-
π0 2026.03	96.8	98.8	95.8	85.2	94.2	-	-	-
UniVLA 2026.02	96.5	96.8	95.6	92	95.2	-	-	-
UniVLA 2026.03	96.5	96.8	95.6	92	95.2	-	-	-
π0-Fast 2026.02	96.4	96.8	88.6	60.2	85.5	-	-	-
VLA-IAP 2026.03	94.8	98.5	95.2	84.2	-	-	-	-
VLA-Cache 2026.03	94.5	97.8	94.5	82.6	-	-	-	-
VLA-IAP 2026.03	94.5	98.3	94.5	83.4	-	-	-	-
Vanilla 2026.03	94.2	98.2	94.6	82.8	-	-	-	-
VLA-Cache 2026.03	94.1	95.9	94.8	82	-	-	-	-
SparseVLM 2026.03	93.8	94.8	92.5	80.1	-	-	-	-
FastV 2026.03	93.5	96.1	92.2	80.5	-	-	-	-
VLA-IAP 2026.03	93.2	97.6	94.2	82.6	-	-	-	-
SmolVLA 2026.02	93	94	91	77	88.8	-	-	-
SmolVLA 2026.03	93	94	91	77	88.7	-	-	-
FastV 2026.03	92.4	95.3	91	79.4	-	-	-	-
NORA 2026.02	92.2	95.4	89.4	74.6	87.9	-	-	-
SparseVLM 2026.03	92	93.8	90.7	77.6	-	-	-	-
DivPrune 2026.03	91.8	92.5	91.4	79.2	-	-	-	-
VLA-IAP 2026.03	91.5	93.5	92.5	90.5	-	-	-	-
VLA-IAP 2026.03	90.5	92	90.5	89.7	-	-	-	-
π0 2026.02	90	86	95	73	86	-	-	-
π0 2026.03	90	86	95	73	86	-	-	-
DivPrune 2026.03	88.8	92	89.8	75.3	-	-	-	-
SpatialVLA 2026.02	88.2	89.9	78.6	55.5	78.1	-	-	-
VLA-Cache 2026.03	88	89.5	89.5	87.5	-	-	-	-
CoT-VLA 2026.02	87.5	91.6	87.6	69	83.9	-	-	-
VLA-Cache 2026.03	87.5	88	86	87.5	-	-	-	-
VLA-IAP 2026.03	87.5	89.5	89.2	89.1	-	-	-	-
SparseVLM 2026.03	87.1	86.2	82.5	71.9	-	-	-	-
SmolVLA 2026.03	87	93	88	63	82.7	-	-	-
FastV 2026.03	86.8	80.7	86.2	73.9	-	-	-	-
FastV 2026.03	86.5	86.5	84	87.5	-	-	-	-
SparseVLM 2026.03	86.5	85	91.5	86.5	-	-	-	-
VLA-Cache 2026.03	86.5	87.2	85.6	72.6	-	-	-	-
WorldVLA 2026.02	85.6	89	82.6	59	79.1	-	-	-
DivPrune 2026.03	85.5	90.5	88	85.5	-	-	-	-
OpenVLA 2026.02	84.7	88.4	79.2	53.7	76.5	-	-	-
OpenVLA 2026.03	84.7	88.4	79.2	53.7	76.5	-	-	-
TraceVLA 2026.02	84.6	85.2	75.1	54.1	74.8	-	-	-
Vanilla 2026.03	84.5	91.5	89.5	89.5	-	-	-	-
FastV 2026.03	84.5	81.5	84	86.5	-	-	-	-
SparseVLM 2026.03	84.5	83.5	90.5	86.5	-	-	-	-
DivPrune 2026.03	84.5	92	84.5	85	-	-	-	-
DivPrune 2026.03	82.1	72.2	79.4	66	-	-	-	-
ID-FT WM 2026.05	82	79.8	63.4	38.6	66	-	-	-
WoVR WM 2026.05	81.6	71.6	66.4	24	60.9	-	-	-
VLA-Cache 2026.03	81.5	81.5	79.2	79.5	-	-	-	-
FastV 2026.03	79	56.5	73	81.5	-	-	-	-
Octo 2026.02	78.9	85.7	84.6	51.5	75.1	-	-	-
Octo 2026.03	78.9	85.7	84.6	51.1	75.1	-	-	-
MDT 2026.02	78.5	87.5	73.5	64.8	76.4	-	-	-
Diffusion Policy 2026.02	78.3	92.5	68.3	50.5	72.4	-	-	-
Diffusion Policy 2026.03	78.3	92.5	68.3	50.5	72.4	-	-	-
SparseVLM 2026.03	76.5	43	79	80.5	-	-	-	-
Co-Train WM 2026.05	73.2	60.2	58.4	36.6	57.1	-	-	-
DivPrune 2026.03	71	87.5	81.5	80.5	-	-	-	-
Online RL (Long) 2026.05	68.8	78.8	65.2	22.4	58.8	-	-	-
Zero-Shot WM 2026.05	65.8	47.2	60.2	35.8	52.3	-	-	-
Online RL (Short) 2026.05	58.4	60.2	55.2	17.6	47.9	-	-	-
1-shot SFT 2026.05	54.6	46.4	52.2	20.2	43.4	-	-	-
Zero-Shot from 90 2026.05	3.4	0	4.2	7	3.7	-	-	-
Zero-shot 2026.07	-	-	-	-	73.4	84.6	73.6	62
One-shot FT 2026.07	-	-	-	-	62.1	71.1	63	52.2
RETAIN 2026.07	-	-	-	-	76.5	88.3	78.4	62.7
FLA 2026.07	-	-	-	-	76.6	86.5	78.4	64.9
DART 2026.07	-	-	-	-	79.4	91.2	80.8	66.2