RoboPro-Baselines

Evaluation of three base (non-DA3) VLA policies — pi0.5, pi0, and X-VLA — on the RoboPRO benchmark (79 tasks across 4 scenes: kitchenl, kitchens, office, study). Metrics: SR = success rate, HSR = hard success rate (success ∧ no collision), CR = collision rate. All values are percentages, micro-averaged over episodes.

Settings: clean (obstacle-free), clutter (obstacle densities d6–d15, averaged), perturbation (5 language axes + vision_blur, on a curated 12-task subset, averaged).

Overall (SR / HSR / CR)

Model	Clean	Clutter (avg d6–d15)	Perturbation (avg)
pi0.5	70.2 / 65.7 / 11.9	60.9 / 47.8 / 31.7	70.8 / 70.3 / 5.6
pi0	60.1 / 55.9 / 14.7	47.3 / 32.9 / 44.6	54.2 / 52.7 / 9.4
X-VLA	49.5 / 46.7 / 9.4	39.6 / 27.5 / 38.7	38.8 / 38.1 / 5.5

Directory layout

<model>/<group>/<model>_<group>.csv   # per-task SR/HSR/CR, averaged over the group's sub-configs
<model>/<group>/<scene>/<task>/
    _episodes.jsonl                    # per-seed rows; each tagged with "config" (density/axis)
    <config>_seed<seed>.mp4            # rollout video  (clean: seed<seed>.mp4)

groups: clean, clutter (merges densities d6–d15), perturbation (merges 5 language axes + vision_blur)

pi0.5

Clean

Scene	SR	HSR	CR
kitchenl	72.5	64.2	20.2
kitchens	68.2	61.8	12.8
office	55.5	54.0	9.8
study	84.8	82.8	5.0
Average	**70.2	65.7	11.9**

Clutter (avg over d6–d15)

Scene	SR	HSR	CR
kitchenl	64.5	39.0	49.0
kitchens	63.1	55.5	13.9
office	47.8	39.8	39.5
study	68.4	56.9	24.8
Average	**60.9	47.8	31.7**

Perturbation vs Clean (same 12 tasks)

Scene	Perturb SR	Perturb HSR	Perturb CR	Clean SR	Clean HSR	Clean CR
kitchenl	40.6	40.0	13.6	83.3	80.0	5.0
kitchens	87.8	86.7	2.8	81.7	78.3	3.3
office	68.3	68.3	5.0	60.0	60.0	5.0
study	89.2	89.2	0.0	90.0	88.3	3.3
Average	**70.8	70.3	5.6**	**78.8	76.7	4.2**

pi0

Clean

Scene	SR	HSR	CR
kitchenl	66.2	58.5	24.0
kitchens	61.0	55.8	12.0
office	39.2	38.2	17.8
study	73.8	71.2	5.0
Average	**60.1	55.9	14.7**

Clutter (avg over d6–d15)

Scene	SR	HSR	CR
kitchenl	60.5	31.5	52.8
kitchens	45.3	36.5	24.5
office	25.8	20.5	63.7
study	57.6	43.1	37.8
Average	**47.3	32.9	44.6**

Perturbation vs Clean (same 12 tasks)

Scene	Perturb SR	Perturb HSR	Perturb CR	Clean SR	Clean HSR	Clean CR
kitchenl	33.6	30.3	20.8	73.3	70.0	11.7
kitchens	67.8	65.8	3.1	68.3	68.3	0.0
office	36.9	36.4	11.9	36.7	36.7	10.0
study	82.7	82.7	0.3	83.3	83.3	0.0
Average	**54.2	52.7	9.4**	**65.4	64.6	5.4**

X-VLA

Clean

Scene	SR	HSR	CR
kitchenl	74.8	67.5	14.8
kitchens	21.8	20.2	11.2
office	33.0	32.0	7.5
study	68.5	67.0	4.0
Average	**49.5	46.7	9.4**

Clutter (avg over d6–d15)

Scene	SR	HSR	CR
kitchenl	64.5	33.2	57.5
kitchens	11.0	9.3	21.3
office	27.0	23.5	41.0
study	56.6	44.4	35.3
Average	**39.6	27.5	38.7**

Perturbation vs Clean (same 12 tasks)

Scene	Perturb SR	Perturb HSR	Perturb CR	Clean SR	Clean HSR	Clean CR
kitchenl	49.7	48.6	6.1	88.3	88.3	1.7
kitchens	45.3	45.0	4.7	53.3	53.3	5.0
office	26.1	24.7	10.0	23.3	23.3	6.7
study	33.3	33.3	0.3	41.7	41.7	1.7
Average	**38.8	38.1	5.5**	**51.7	51.7	3.8**