Performance
LingBot-VA is evaluated on simulation benchmarks and real-world tasks.
Simulation Evaluation
RoboTwin 2.0
LingBot-VA reaches 92.9% Easy SR and 91.6% Hard SR across 50 RoboTwin 2.0 tasks.
* All metrics are reported in percentage (%). Higher values are bolded.
| Method (Average 50 Tasks) | Easy SR (%) | Hard SR (%) |
|---|---|---|
| X-VLA | 72.9 | 72.8 |
| π0 | 65.9 | 58.4 |
| π0.5 | 82.7 | 76.8 |
| Motus | 88.7 | 87.0 |
| LingBot-VA (Ours) | 92.9 (+4.2) | 91.6 (+4.6) |
LIBERO
* All metrics are reported in percentage (%). Higher values are bolded.
| Methods | Spatial | Object | Goal | Long | Avg |
|---|---|---|---|---|---|
| π0 | 96.8 | 98.8 | 95.8 | 85.2 | 94.1 |
| π0.5 | 98.8 | 98.2 | 98.0 | 92.4 | 96.9 |
| OpenVLA | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 |
| X-VLA | 98.2 | 98.6 | 97.8 | 97.6 | 98.1 |
| LingBot-VA (Ours) | 98.5 ± 0.3 | 99.6 ± 0.3 | 97.2 ± 0.2 | 98.5 ± 0.5 | 98.5 |
Real-world Deployment
The real-world evaluation contains six manipulation tasks across three categories: long-horizon tasks (Make Breakfast, Pick Screws), precision tasks (Insert Tube, Unpack Delivery), and deformable or articulated object manipulation (Fold Clothes, Fold Pants). Each task uses 50 trials and reports Progress Rate and Success Rate.
PS = Average_Progress / Max_Steps × 100%
SR = Successful_Trials / N × 100%
* All metrics are reported in percentage (%). Higher values are bolded.
| Task | Make Breakfast | Pick Screws | Insert Tube | Unpack Delivery | Fold Clothes | Fold Pants | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PS | SR | PS | SR | PS | SR | PS | SR | PS | SR | PS | SR | |
| π0.5 | 73.0 | 70.0 | 74.0 | 50.0 | 79.2 | 30.0 | 73.0 | 25.0 | 62.9 | 30.0 | 30.0 | 30.0 |
| LingBot-VA (Ours) | 97.0 | 75.0 | 82.5 | 70.0 | 85.8 | 40.0 | 84.5 | 65.0 | 48.8 | 35.0 | 76.7 | 70.0 |