| robot-manipulation-on-calvin | CogMemory (ABC→D, Florence-2-L) | – | avg. sequence length (D to D): 4.64 |
| robot-manipulation-on-calvin | CogMemory (ABC→D, PaliGemma) | – | avg. sequence length (D to D): 2.92 |
| robot-manipulation-on-calvin | CogMemory (D→D, Florence-2-L) | – | avg. sequence length (D to D): 4.42 |
| robot-manipulation-on-calvin | CogMemory (D→D, PaliGemma) | – | avg. sequence length (D to D): 3.27 |
| robot-manipulation-on-libero-goal | CogMemory | – | Success Rate: 97.2 |
| robot-manipulation-on-libero-long | CogMemory | – | Success Rate: 97.1 |
| robot-manipulation-on-libero-object | CogMemory | – | Success Rate: 98.8 |
| robot-manipulation-on-libero-spatial | CogMemory | – | Success Rate: 98.2 |