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