---
tags:
  - robotics
  - vision-language-action
  - vla-arena
  - paimon
pipeline_tag: robotics
---

# Paimon 

This repository contains the evaluation results for **Paimon**, a
vision-language-action policy evaluated on the VLA-Arena benchmark. This is a
results-only submission for the checkpoint at training step **40,000**。

The evaluated system uses a two-stage pipeline: a VLM-Agent first generates or
decomposes the subtask, and the VLA then executes the resulting subtask in the
simulator.

## VLA-Arena evaluation

Paimon was evaluated on all **33 VLA-Arena task/level cells** using the
official-style evaluation setup.

- Episodes: **5,100**
- Successes: **3,767**
- Episode-weighted success rate: **73.86%**
- Cell-mean success rate: **73.08%**
- L0 / L1 / L2 cell-mean success rate: **90.58% / 71.39% / 57.27%**

The cell-mean rate is the equal-weight average of the 33 L0/L1/L2 success
rates in `results/paimon-arena-agent-ft-step40000.json`.