Task 2: Closed-Loop Object Adjustment

01 · Observe and approach action 0 → 16

First policy call head-camera input — Head

First policy call left-wrist-camera input — Left wrist

First policy call right-wrist-camera input — Right wrist

02 · Observe again and grasp action 16 → 32

Second policy call head-camera input — Head

Second policy call left-wrist-camera input — Left wrist

Second policy call right-wrist-camera input — Right wrist

03 · Observe again and adjust action 32 → 39

Third policy call head-camera input — Head

Third policy call left-wrist-camera input — Left wrist

Third policy call right-wrist-camera input — Right wrist

System	All 3 views	Head only	Wrist swap
Efficient-WAM Stage 3	79/80 (98.8%)	12/80 (15.0%)	31/80 (38.8%)
StarVLA Qwen3-VL-OFT-Robotwin2	74/80 (92.5%)	0/80 (0.0%)	0/80 (0.0%)