Performance#
RPent Leaderboard
LIBERO-PRO
| Method | Overall | Spatial Task | Spatial Swap | Object Task | Object Swap | Goal Task | Goal Swap | Long Task | Long Swap |
|---|---|---|---|---|---|---|---|---|---|
| RPent / GPT-6 Astra[4]Codex · low · reasoning | 92.63% (741/800) | 100% (100/100) | 98% (98/100) | 100% (100/100) | 99% (99/100) | 88% (88/100) | 99% (99/100) | 85% (85/100) | 72% (72/100) |
| RPent / DeepSeek V4.1 FlashCodex · xhigh · reasoning | 90.00% (720/800) | 98.00% (98/100) | 98.00% (98/100) | 100.00% (100/100) | 100.00% (100/100) | 90.00% (90/100) | 93.00% (93/100) | 74.00% (74/100) | 67.00% (67/100) |
| RPent Flash Mode[2]Molmo2-8B · visual localization | 72.63% (581/800) | 79.00% (79/100) | 70.00% (70/100) | 86.00% (86/100) | 93.00% (93/100) | 74.00% (74/100) | 65.00% (65/100) | 60.00% (60/100) | 54.00% (54/100) |
| RPent / Qwen3.6 27Bno-reasoning | 70.63% (565/800) | 82.00% (82/100) | 78.00% (78/100) | 83.00% (83/100) | 84.00% (84/100) | 68.00% (68/100) | 68.00% (68/100) | 61.00% (61/100) | 41.00% (41/100) |
| RPent / GPT-5.5Codex · xhigh · reasoning | 75.13% (Evaluated: 800) | 81.0% (Evaluated: 100) | 69.0% (Evaluated: 100) | 94.0% (Evaluated: 100) | 91.0% (Evaluated: 100) | 75.0% (Evaluated: 100) | 66.0% (Evaluated: 100) | 70.00% (70/100) | 55.00% (55/100) |
| RPent / GPT-6 Motor Only[3]Codex · low · reasoning | — | — | — | — | — | — | — | 38.0% (38/100) | — |
| π0 | 0.3% | 0.0% | 0.0% | 0.0% | 2.0% | 0.0% | 0.0% | 0.0% | 0.0% |
| π_RLinf | 50.0% | 42.0% (Evaluated: 100) | 59.0% (Evaluated: 100) | 71.0% (Evaluated: 100) | 78.0% (Evaluated: 100) | 45.0% (Evaluated: 100) | 42.0% (Evaluated: 100) | 49.0% (Evaluated: 100) | 14.0% (Evaluated: 100) |
| AtomVLA | 6.3% | 1.0% | 16.0% | 0.0% | 10.0% | 11.0% | 2.0% | 9.0% | 1.0% |
| π0.5 | 11.0% | 1.0% | 20.0% | 1.0% | 17.0% | 2.0% | 38.0% | 1.0% | 8.0% |
| MolmoAct | 1.5% | 0.0% | 0.0% | 0.0% | 6.0% | 0.0% | 0.0% | 6.0% | 0.0% |
| X-VLA | 3.8% | 0.0% | 0.0% | 8.0% | 2.0% | 9.0% | 1.0% | 10.0% | 0.0% |
| Cap-X | — | 14.0% | 12.0% | 18.0% | 22.0% | 17.0% | 26.0% | — | — |
| RATS | — | 31.0% | 29.0% | 63.0% | 61.0% | 36.0% | 43.0% | — | — |
| RPent / Opus-4.7Claude Code · max · reasoning | 82.4% (Evaluated: 800) | — | — | — | — | — | — | — | — |
| ASPIRE[1] | 61.36% | 60.0% (Evaluated: 500) | 51.0% (Evaluated: 500) | 95.0% (Evaluated: 500) | 98.0% (Evaluated: 500) | 45.0% (Evaluated: 500) | 81.0% (Evaluated: 500) | 38.3% (Evaluated: 500) | 22.6% (Evaluated: 500) |
* [1] ASPIRE: Long Task and Long Swap use zero-shot transfer from the LIBERO-90 skill library.
* [3] RPent / GPT-6 Motor Only uses motor-only control: it directly outputs end-effector pose increments and gripper commands through execute_action, without invoking VLA / primitives or loading memory.
* [4] GPT-6 Astra (memory-enabled configuration): Long Task/Swap and the other six suites use separate memory-file snapshots frozen after their respective exploration phases, with no updates during evaluation. Overall combines two non-overlapping batches: Long 157/200 plus the other suites 584/600, giving 741/800 (92.63%); the 800 episodes do not share a single memory snapshot.
LIBERO
| Method | Overall | Spatial | Object | Goal | Long |
|---|---|---|---|---|---|
| RPent / Opus-4.7Claude Code · max · reasoning | 96.0% (384/400) | 97.0% (Evaluated: 100) | 100.0% (Evaluated: 100) | 94.0% (Evaluated: 100) | 93.0% (Evaluated: 100) |
| OpenVLA | 76.5% | 84.7% | 88.4% | 79.2% | 53.7% |
| NORA | 79.5% | 85.6% | 89.4% | 80.0% | 63.0% |
| π0 | 94.2% | 96.8% | 98.8% | 95.8% | 85.2% |
| π_RLinf | 95.3% | 99.0% (Evaluated: 100) | 96.0% (Evaluated: 100) | 97.0% (Evaluated: 100) | 89.0% (Evaluated: 100) |
| AtomVLA | 97.0% | 96.4% | 99.6% | 97.6% | 94.4% |
RoboCasa365 · Target50
| Method | Overall | Atomic-Seen | Composite-Seen | Composite-Unseen |
|---|---|---|---|---|
| RPent / GPT-6 AstraCodex · low · reasoning | 59.20% (Evaluated: 340) | 87.78% (Evaluated: 180) | 43.75% (Evaluated: 80) | 42.50% (Evaluated: 80) |
| RPent / GPT-5.5Codex · xhigh · reasoning | 57.1% (Evaluated: 340) | 92.0% (Evaluated: 180) | 61.0% (Evaluated: 80) | 13.8% (Evaluated: 80) |
| RPent / Opus-4.7Claude Code · max · reasoning | 48.6% (Evaluated: 340) | 79.4% (Evaluated: 180) | 47.5% (Evaluated: 80) | 15.0% (Evaluated: 80) |
| π0 | 14.8% | 34.6% | 6.1% | 1.1% |
| π0.5 | 16.9% | 39.6% | 7.1% | 1.2% |
| RLDX-1 | 30.0% | 60.0% | 21.3% | 5.0% |
| WorldDreamer | 35.3% | 66.3% | 26.7% | 9.0% |
| Xiaomi-Robotics-1 | 57.4% | 80.2% | 57.1% | 32.1% |
RoboTwin
| Method | C2R |
|---|---|
| RPent / GPT-5.5Codex · xhigh · reasoning | 62.4% (156/250) |
| RPent / Opus-4.7Claude Code · max · reasoning | 58.4% (Evaluated: 250) |
| π0.5 | 47.9% |
| GR00T-N1.7 | 20.7% |
| StarVLA | 10.6% |
| LingBot-VLA | 50.4% |