PhAIL
PhAIL Physical AI Leaderboard by Positronic Robotics
Leaderboard › Model

Model card

Made by
Galaxea
Size
2B parameters
Published
12 Aug 2026
More about the model
Publication
arXiv 2608.11739
Code
github.com/OpenGalaxea/GalaxeaVLA
Weights licence
G0.5 Community License: non-commercial use only (research, education, evaluation) source
Actions per chunk
32 source
Smallest GPU
About 12 GB of free GPU memory for the DROID checkpoint source
Architecture
Qwen3.5 2B vision-language model that writes reasoning and action tokens in one stream; a learned action codec decodes the action tokens source
Training data
Base model: robot demonstrations from 14 embodiments, and web and embodied VQA data; this checkpoint is post-trained on DROID source

Progress through an episode

Each band shows how many episodes of G0.5 had got as far as that stage at each second. The dashed line shows the mean Reliability.

Episodes

Each episode of G0.5 on DROID: Everyday tasks, the newest first.

176 episodes
Task Task difficulty How far it got % of task done Time to success, s
Remove the yellow block from the bowl Easy Success 100 42.3
Put the book in the box Hard Failed 0 -
Pick up the screwdriver from the cup and put it on the table Easy Success 100 51.1
Remove the marker from the cup and put it on the book Very hard Control 30 -
Put the cloth in the bag Very hard Failed 0 -
Pick up the spoon and put it on the plate Easy Contact 10 -
Put the knife in the drawer Very hard Failed 0 -
Put the towel in the basket Medium Success 100 57.8
Put the plush on the table Easy Success 100 26.9
Put the bottle on the box Medium Success 100 44.9
Pick up the pen from the cup and put it on the table, then move the cup Hard Failed 0 -
Remove the marker from the glass and put it on the table Hard Failed 0 -
Put the marker in the glass Hard Failed 0 -
Put the marker beside the mug Hard Failed 0 -
Put the wrench in the bowl Hard Failed 0 -
Put the screwdriver on the tray Very hard Failed 0 -
Put the lid on the pan Easy Safety stop 0 -
Pick up the toy and put it in the bowl Hard Success 100 22.6
Put the marker on the cloth, then fold the cloth and put it in the box Very hard Failed 0 -
Pick up the bottle and put it on the right side of the table Hard Failed 0 -
Put the bottle in the bag Very hard Failed 0 -
Remove the bottle from the tray and put it on the table Very hard Failed 0 -
Put the marker inside the container Hard Failed 0 -
Remove the bottle from the bowl and put it on the table Easy Failed 0 -
Put the bottle on the tray Hard Failed 0 -
Pick up the cup and put it on the left side of the table Medium Contact 10 -
Remove the lid from the bottle and put it on the table Very hard Success 100 14.9
Put the blocks in the cup Very hard Failed 0 -
Pick up the bottle from the box and put it on the table Hard Failed 0 -
Put the bottle in the bowl Medium Success 100 22.1
Put the lid on the bottle Very hard Failed 0 -
Put the bottle on the table Easy Success 100 24.0
Put the orange cup in the yellow cup then put the yellow cup in the blue cup Very hard Success 100 47.5
Pick up the spoon and put it in the cup Very hard Failed 0 -
Put the blue cup on the table Easy Success 100 17.5
Put the blocks in the bowl Very hard Failed 0 -
Pick up the bottle and put it in the box Very hard Failed 0 -
Put the pen in the mug Hard Success 100 42.5
Put the pen in the bowl Easy Control 30 -
Put the green block in the bowl Easy Success 100 51.5
Pick the marker from the bowl and put it on the table Easy Success 100 14.9
Take the marker out of the mug and put it on the table Easy Success 100 122.4
Close the box Very hard Failed 0 -
Put the marker on the table Medium Success 100 35.5
Put the yellow block in the cup Easy Success 100 21.0
Put the cup in the bowl Easy Failed 0 -
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium At target 40 -
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Failed 0 -
Flip over the plate Hard Success 100 17.7
Put the sponge in the bowl Easy Success 100 45.3
Put the marker in the mug Hard Success 100 35.6
Put the banana on the plate on the left Easy Success 100 126.2
Put the orange block on top of the green block Hard Failed 0 -
Put the yellow block in the blue cup Medium Failed 0 -
Put the fork on the plate Medium Failed 0 -
Put the cube in the bowl Medium At target 40 -
Put the spoon in the mug Hard At target 40 -
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Hard Success 100 116.1
Fold the towel Hard Control 30 -
Move the cup to the right Easy Success 100 17.4
Move the cup to the left Easy Success 100 17.6
Close the box Very hard Floating 0 -
Put the marker on the table Medium Failed 0 -
Put the yellow block in the cup Easy Success 100 90.6
Put the cup in the bowl Easy Control 30 -
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Failed 0 -
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Failed 0 -
Flip over the plate Hard Success 100 125.6
Put the sponge in the bowl Easy Success 100 18.4
Put the marker in the mug Hard Failed 0 -
Put the banana on the plate on the left Easy Success 100 75.5
Turn the box right side up Very hard Floating 0 -
Turn the spoon Hard Contact 10 -
Turn the lid upside down Very hard Failed 0 -
Rotate the mug Easy Success 100 71.8
Turn the marker to the right Hard Failed 0 -
Unstack the boxes on the table Medium Contact 10 -
Stack the cups inside the bowl Hard Reaching 0 -
Stack the wooden blocks on the table Very hard Failed 0 -
Use the towel to wipe the plate Medium Failed 0 -
Wipe the table with the cloth Medium Control 30 -
Move the banana to the left Easy Success 100 36.0
Move the plate to the left Hard Success 100 21.3
Move the fork to the right Easy Success 100 42.5
Move the rubik's cube to the left Easy Success 100 187.9
Move the spoon to the right Easy Success 100 57.4
Move the pen to the right Medium Failed 0 -
Move the box to the right Very hard Control 30 -
Move the cloth to the right Medium Floating 0 -
Move the marker to the left Easy Success 100 195.3
Move the towel to the right Hard Success 100 164.4
Put the pen in the storage box Medium Failed 0 -
Put the Rubik's cube in the storage box Easy Failed 0 -
Put the pen in the drawer Easy Safety stop 0 -
Put the screwdriver in the bowl Very hard Success 100 17.2
Put the cube in the drawer and close the drawer Very hard Safety stop 0 -
Put the spoon in the box Medium Failed 0 -
Put the wooden spoon in the drawer Medium Safety stop 0 -
Put the sponge in the open drawer Hard Failed 0 -
Put the cup in the drawer Hard Safety stop 0 -
Put the cube in the cup Hard Failed 0 -
Put the marker on the towel Hard Success 100 119.8
Put the yellow block on the plate Easy Failed 0 -
Put the screwdriver on the table Medium At target 40 -
Put the shirt on the table Very hard Failed 0 -
Put the marker on the plate Easy Success 100 102.0
Place the cube on the table Easy Success 100 26.6
Place the bowl on the plate Easy Failed 0 -
Place the mug at the center of the table Hard Safety stop 0 -
Put the towel inside the box Easy At target 40 -
Put the fork inside the open drawer Hard Contact 10 -
Put the blue block inside the open drawer then close the drawer Hard At target 40 -
Take the cloth and put it on the bowl Easy Control 30 -
Remove the towel from the middle drawer Hard Safety stop 0 -
Remove the banana from the bowl Easy Success 100 63.4
Remove the red cup from the box Easy Success 100 35.9
Remove the fork from the bowl Easy Success 100 18.8
Take the mug off the plate and put it on the table Easy At target 40 -
Pick up the spoon from the bowl and put it in the box Hard Failed 0 -
Pick up the spoon from the bowl and put it in the cup Hard Failed 0 -
Pick up the cup and put it on the plate Easy Failed 0 -
Pick the fork and put it on the table Easy Contact 10 -
Pick up the towel and place it on the table Hard Reaching 0 -
Pick up the spoon and put it on the table Easy Success 100 60.8
Pick up the pen and put it on the table Hard Failed 0 -
Pick up the cloth and put it on the drawer Hard Control 30 -
Pick up the blue cup and put it in the orange cup Easy Success 100 87.5
Pick up the cloth from the table and put it in the box Medium Control 30 -
Pick up the cloth and put it on the table Hard Failed 0 -
Remove the marker from the cup and put it on the box Medium Control 30 -
Remove the lid from the storage box and put it on the table Medium Control 30 -
Take the spoon from the plate and put it on the table Easy At target 40 -
Remove the blocks from the bowl and put them on the table Easy At target 40 -
Remove the mug from the box and put it on the table Easy Failed 0 -
Take the screwdriver from the box and put it on the table Medium Floating 0 -
Remove the marker from the box and place it on the table Medium Control 30 -
Remove the spoon from the bowl and put it on the table Medium Failed 0 -
Remove the spoon from the cup and put it on the table Hard Control 30 -
Take the pen out of the bowl and put it on the table Easy Success 100 20.5
Take the pen out of the mug and put it on the table Hard Failed 0 -
Put the marker on the towel, fold the towel, and then put the folded towel in the box Very hard Failed 0 -
Put the screwdriver in the drawer and close it Very hard Failed 0 -
Unfold the shirt Hard Contact 10 -
Fold the cloth Hard Failed 0 -
Flip the cup over Medium Control 30 -
Close the drawer Hard Safety stop 0 -
Move the bowl to the right Easy Success 100 17.7
Move the mug to the left Easy Success 100 14.1
Stack the cups Medium Control 30 -
Put the orange block on top of the green block Hard Failed 0 -
Put the yellow block in the blue cup Medium Failed 0 -
Put the fork on the plate Medium Success 100 22.0
Put the cube in the bowl Medium Success 100 73.3
Put the spoon in the mug Hard Failed 0 -
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Hard Success 100 194.5
Fold the towel Hard Success 100 25.6
Move the cup to the right Easy At target 40 -
Move the cup to the left Easy Floating 0 -
Close the box Very hard Failed 0 -
Put the marker on the table Medium Success 100 22.5
Put the yellow block in the cup Easy Success 100 45.8
Put the cup in the bowl Easy Success 100 18.3
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Control 30 -
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Failed 0 -
Flip over the plate Hard Success 100 159.0
Put the sponge in the bowl Easy Success 100 28.0
Put the marker in the mug Hard Control 30 -
Put the banana on the plate on the left Easy Success 100 59.2