---
license: apache-2.0
tags:
- robotics
- manipulation
- vla
- robopro
- robotwin
- evaluation
---

# DA3-VLA — RoboPRO Evaluation Results

Full evaluation results on the **RoboPRO** benchmark (RoboTwin / SAPIEN sim, 79 tasks across
kitchenl / kitchens / office / study), organized **by model**. Each model folder contains the
scored metrics, per-task CSVs, rollout videos, and the model checkpoint.

Protocol: stock TOPP control; **clean** = 20 seeds/task, **clutter** = d6–d15 × 2 seeds/task.
Clean and clutter are reported separately (never averaged).

## Headline numbers

| Model | Clean SR / HSR | Clutter SR / HSR |
|---|---|---|
| **pi05_da3_v2final_ckpt39999** — pi0.5 + DA3 (L6-Action XAttn), 30/50 exec | **81.3 / 62.8** | **72.8 / 25.1** |
| **pi05_base_50-50** — vanilla pi0.5 (clean 50/50, clutter 30/50) | 70.1 / 54.9 | 62.2 / 22.9 |
| **da3-xvla-45k** — giant X-VLA + DA3 (L6-Action XAttn), ckpt 45k | 55.6 / 46.7 | 45.3 / 11.2* |

*da3-xvla-45k clutter is partial (n=1187, ~75%). The two pi05 models are complete and matched.
**DA3 beats vanilla pi0.5 on both configs: clean +11.2/+7.9, clutter +10.6/+2.2.**

## Layout (per model)

```
<model>/
  SUMMARY.txt              # TOTAL + per-scene + per-task, for CLEAN and CLUTTER sections
  per_task_clean.csv       # scene,task,SR,HSR,n
  per_task_clutter.csv     # scene,task,SR,HSR,n
  <scene>__<task>/         # rollout videos: episodeN.mp4 (clean), d<N>_episodeN.mp4 (clutter)
  checkpoint/              # the model weights used for this eval
```

Models:
- `pi05_da3_v2final_ckpt39999` — pi0.5 + DA3 spatial addon, v2-final checkpoint (openpi/JAX).
- `pi05_base_50-50` — base pi0.5 (jax 30k), the vanilla baseline.
- `da3-xvla-45k` — `v1-nested-giant-perc-ckpt45000`, giant X-VLA with DA3 (policy `dxvla`).

## Notes
- SR = success rate; HSR = hard success (success with **zero** collisions).
- Sim: SAPIEN 3.0.0b1 on GB10 (aarch64). Long-horizon kitchens chains and dense clutter are the
  hardest cells; clutter HSR is collision-bottlenecked for all models.