| robot-manipulation-on-libero | PDRVLA | – | Success Rate: 99.3 |
| robot-manipulation-on-libero-goal | PDRVLA | – | Success Rate: 99.8 |
| robot-manipulation-on-libero-long | PDRVLA | – | Success Rate: 97.6 |
| robot-manipulation-on-libero-object | PDRVLA | – | Success Rate: 99.8 |
| robot-manipulation-on-libero-spatial | PDRVLA | – | Success Rate: 100.0 |
| robot-manipulation-on-robotwin-2-0-easy-50-tasks | PDRVLA | – | Success Rate: 93.9 |
| robot-manipulation-on-robotwin-2-0-hard-50-tasks | PDRVLA | – | Success Rate: 93.3 |
| robot-manipulation-on-simplerenv-widow-x | PDRVLA | – | Average: 0.815 |