| Benchmark | Model | Rank | Results |
|---|---|---|---|
| robot-manipulation-on-calvin | LIRA | – | avg. sequence length (D to D): 4.52 |
| robot-manipulation-on-libero | LIRA | – | Success Rate: 98.9 |
| robot-manipulation-on-libero-goal | LIRA | – | Success Rate: 98.5 |
| robot-manipulation-on-libero-long | LIRA | – | Success Rate: 97.6 |
| robot-manipulation-on-libero-object | LIRA | – | Success Rate: 99.8 |
| robot-manipulation-on-libero-spatial | LIRA | – | Success Rate: 99.6 |