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---
license: mit
base_model:
- hongyuw/bitvla-bitsiglipL-224px-bf16
datasets:
- openvla/modified_libero_rlds
language:
- en
pipeline_tag: robotics
tags:
- 1-bit
- vla
---
The success rate (%) of BitVLA and the baselines on LIBERO simulation environment
| **Models** | **Size** | **Memory Usage↓** | **Spatial** | **Object** | **Goal** | **Long** | **Avg.** |
| ----------------------------- | -------- | ----------------- | ----------- | ---------- | -------- | -------- | -------- |
| *w/ Robotics pre-training* | | | | | | | |
| OpenVLA | 7.5B | 15.1GB (10.79×) | 84.7 | 88.4 | 79.2 | 53.7 | 76.5 |
| SpatialVLA | 4.2B | 8.5GB (6.07×) | 88.2 | 89.9 | 78.6 | 55.5 | 78.1 |
| CoT-VLA | 8.0B | 16.2GB (11.57×) | 87.5 | 91.6 | 87.6 | 69.0 | 81.1 |
| NORA-Long | 3.8B | 7.5GB (5.36×) | 92.2 | 95.4 | 89.4 | 74.6 | 87.9 |
| π₀ | 3.5B | 7.0GB (5.00×) | 96.8 | 98.8 | 95.8 | 85.2 | 94.2 |
| OpenVLA-OFT | 7.7B | 15.4GB (11.00×) | 97.6 | 98.4 | 97.9 | 94.5 | 97.1 |
| *w/o Robotics pre-training* | | | | | | | |
| OpenVLA-OFT | 7.7B | 15.4GB (11.00×) | 94.3 | 95.2 | 91.7 | 86.5 | 91.9 |
| **BitVLA** | 3.0B | 1.4GB (1.00×) | 97.4 | 99.6 | 94.4 | 87.6 | 94.8 |
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