Rollout Examples
Comparing ground truth(left) and generated(right) rollouts.
Gripper Control & Control Sweeps
Gripper Control
Sweep X-Axis
Sweep Y-Axis
Sweep Z-Axis
Evaluation Rollouts For Bridge Data

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Put eggplant into Pot |  |  |
Put corn on plate |  |  |
Take grapes out of Pot |  |  |

Evaluation Rollouts For RT-1 Data

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Pick Blue Chip Bag |  |  |
Close the drawer |  |  |

OOD Input Image: Successes

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Pick up Orange (Replace Carrot with Radish) |  |  |
Pick up Carrot (With Computer on side) |  |  |
Pick Circle |  |  |

OOD Input Image: Failures

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Pick up Carrot (With Computer on side) |  |  |
Pick up Carrot (Computer closer to gripper) |  |  |
Pick up Orange (Carrot closer to Gripper) |  |  |
Pick Circle (circle on the right side) |  |  |

OOD Language Instruction: Successes

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Put Plate On Drying Rack |  |  |
Move Pot With Grapes Into Drying Rack |  |  |

OOD Language Instruction: Failures

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Put Yellow Corn In Red Cup |  |  |
Move The Pot To The Counter |  |  |

Ground Truth vs Distraction Rollouts

Task ▼ / Policy ▶ | OPENVLA-7B | OCTO BASE-1.5 | RT-1-X
--- | --- | --- | ---
Original |  |  |
Out of Distribution (Distraction) |  |  |