Simulation Results

Libero

Model	Libero-Spatial	Libero-Object	Libero-Goal	Libero-10	Average	Config	Checkpoint Link
CogACT	97.2	98.0	90.2	88.8	93.6	-	-
DB-CogACT	93.8	97.8	96.2	91.8	94.9	libero_cogact.py	🤗 Hugging Face
Pi-0	96.8	98.8	95.8	85.2	94.2	-	-
DB-Pi0	97	98.2	94	86.4	93.9	libero_pi0.py	🤗 Hugging Face
MemVLA	98.4	98.4	96.4	93.4	96.7	-
DB-MemVLA	97.2	99.2	98.4	93.2	97.0	libero_memvla.py	🤗 Hugging Face

Our training and evaluation are conducted under the ABC->D setting.

Model	1	2	3	4	5	Average Length	Config	Checkpoint Link
CogACT	83.8	72.9	64	55.9	48	3.246	-	-
DB-CogACT	93.5	86.7	80.3	76	69.8	4.063	calvin_cogact.py	🤗 Hugging Face
OFT	89.1	79.4	67.4	59.8	51.5	3.472	-	-
DB-OFT	92.8	80.7	69.2	60.2	51.1	3.540	calvin_oft.py	🤗 Hugging Face

Our training uses the Bridge dataset and is tested on the WidowX environment.

Model	Put Spoon on Towel	Put Carrot on Plate	Stack Green Block on Yellow Block	Put Eggplant in Yellow Basket	Average	Config	Checkpoint Link
CogACT	71.7	50.8	15	67.5	51.25	-	-
DB-CogACT	87.5	65.28	29.17	95.83	69.45	simpler_cogact.py	🤗 Hugging Face
OFT	12.5	4.2	4.2	100	30.23	-	-
DB-OFT	91.67	76.39	43.06	94.44	76.39	simpler_oft.py	🤗 Hugging Face
MemVLA	75.0	75.0	37.5	100.0	71.9	-	-
DB-MemVLA	100.0	66.7	70.8	100.0	84.4	simpler_memvla.py	🤗 Hugging Face

Model	PickCube	StackCube	PickSingleYCB	PickSingleEGAD	PickClutterYCB	Average	Config	Checkpoint Link
CogACT	55	70	30	25	20	40	-	-
DB-CogACT	90	65	65	40	30	58	maniskill2_cogact.py	🤗 Hugging Face
OFT	40	45	5	5	0	21	-	-
DB-OFT	90	75	55	65	30	63	maniskill2_oft.py	🤗 Hugging Face
Pi-0	90	50	25	15	15	39	-	-
DB-Pi0	90	90	55	50	20	61	maniskill2_pi0.py	🤗 Hugging Face

Our training uses the RoboTwin2.0 demo_clean dataset and is tested on the Aloha-AgileX demo_clean environment.

Model	Adjust Bottle	Grab Roller	Place Empty Cup	Place Phone Stand	Average	Config	Checkpoint Link
CogACT	87	72	11	5	43.75	-	-
DB-CogACT	99	89	28	18	58.5	robotwin2_cogact.py	🤗 Hugging Face