| robot-manipulation-on-calvin-abcd-to-d | UniVLA (CALVIN ABCD→D) | #4 | Average Length: 4.63 |
| robot-manipulation-on-simplerenv-widow-x | UniVLA | #20 | Average: 0.698 |
| robot-manipulation-on-libero-object | UniVLA (LIBERO-Object) | #62 | Success Rate: 98.8 |
| robot-manipulation-on-libero-long | UniVLA (LIBERO-Long) | #63 | Success Rate: 94.0 |
| robot-manipulation-on-libero-spatial | UniVLA (LIBERO-Spatial) | #84 | Success Rate: 95.4 |
| robot-manipulation-on-libero-goal | UniVLA (LIBERO-Goal) | #87 | Success Rate: 93.6 |
| robot-manipulation-on-libero | UniVLA | #105 | Success Rate: 95.5 |
| robot-manipulation-on-calvin | UniVLA | – | avg. sequence length (D to D): 4.41 |