PhAIL: 実ロボットVLAベンチマークと分布評価手法

原文アブストラクト

Real-world evaluation of vision-language-action (VLA) policies still rests on binary success rate at a fixed timeout with $N \le 25$ rollouts per condition, almost always without confidence intervals or paired statistical comparison; these cohort sizes struggle to resolve close comparisons reliably. We introduce PhAIL (Physical AI Leaderboard, https://phail.ai), an open real-robot benchmark on a Franka FR3 (dataset, per-rollout artifacts, and end-to-end reference implementation) of a distributional evaluation methodology: the time-to-success cumulative distribution function (CDF) as the evaluation primitive, with two separated jobs. The first is scoring via Human-Relative Throughput (HRT), a dimensionless scalar with bootstrap confidence intervals, anchored to same-fixture human teleoperation. The second is a significance test (Kolmogorov-Smirnov, computed per-object and macro-averaged across objects). On four publicly-available VLAs, the macro-averaged KS test resolves two close comparisons (GR00T vs. ACT, OpenPI vs. ACT) at $N \le 30$ rollouts per (model, object) cell where binary-threshold metrics do not; the closest pair (OpenPI vs. GR00T) remains unresolved within our budget. The best evaluated VLA is $\sim 7\times$ slower per operation (RMST ratio) than the human reference.