| # RoboPro-Baselines |
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|
| 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. |
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| 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 |
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| ### Clean |
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|
| | 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** | |
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| ### 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** | |
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|
| ## pi0 |
|
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| ### 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** | |
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|
| ### Clutter (avg over d6–d15) |
|
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| | 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** | |
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| ### 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** | |
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| ## X-VLA |
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| ### Clean |
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|
| | 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** | |
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| ### Clutter (avg over d6–d15) |
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| | 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** | |
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| ### Perturbation vs Clean (same 12 tasks) |
|
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| | 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** | |
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