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** |
