vla-eval: A Unified Evaluation Harness for Vision-Language-Action Models

arXiv:2603.13966 · cs.AI · Submitted 2026-03-14 · Read on arXiv

cs.AI

Submitted: 2026-03-14

Updated: 2026-09-14

Code: https://github.com/allenai/vla-evaluation-harness

Project page: https://allenai.github.io/vla-evaluation-harness/leaderboard

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 79× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Model-Agnostic — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Provenance — 1× in this paper · explained in 3 episodes
• Recent Vision-Language-Action — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model
• Dexbotic: Open-Source Vision-Language-Action Toolbox
• LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization
• Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning
• Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspective
• RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
• VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• FAST: Efficient Action Tokenization for Vision-Language-Action Models

Related papers

• MAVEN-T: Reinforced Heterogeneous Distillation for Real-Time Multi-Agent Trajectory Prediction
• Model Discovery Agent: LLM-assisted Bayesian experiment design for data-efficient discovery of mechanistic world models
• The Clinician's Veto: Navigating Trust, Liability, and Uncertainty in Autonomous AI Prescribing
• MindHelper: Closed-Loop Embodied Mental-State Reasoning for Precision Intervention
• Incumbent Advantage: Brand Bias and Cognitive Manipulation Dynamics in LLM Recommendation Systems
• VSAL: A Vision Solver with Adaptive Layouts for Graph Property Detection