{
  "source": "Supplied FIT-MAC manuscript, Tables 1–4 (pages 7, 9) and Figure 4 (page 8).",
  "units": "Percent, except delta success rates in percentage points.",
  "table1": {
    "columns": [
      "Method",
      "Object: Obj.",
      "Object: Pos.",
      "Object: Sem.",
      "Object: Task",
      "Object: Env.",
      "Spatial: Obj.",
      "Spatial: Pos.",
      "Spatial: Sem.",
      "Spatial: Task",
      "Spatial: Env.",
      "Average"
    ],
    "rows": [
      [
        "MolmoAct",
        92,
        6,
        96,
        0,
        null,
        90,
        0,
        88,
        0,
        null,
        null
      ],
      [
        "NORA",
        86,
        0,
        92,
        0,
        null,
        92,
        0,
        91,
        0,
        null,
        null
      ],
      [
        "X-VLA",
        89,
        2,
        98,
        8,
        null,
        97,
        0,
        96,
        0,
        null,
        null
      ],
      [
        "AtomVLA",
        93,
        10,
        99,
        0,
        null,
        95,
        16,
        95,
        1,
        null,
        null
      ],
      [
        "CaP-Agent₀",
        null,
        22,
        null,
        18,
        null,
        null,
        12,
        null,
        14,
        null,
        null
      ],
      [
        "RATs",
        null,
        61,
        null,
        63,
        null,
        null,
        29,
        null,
        31,
        null,
        null
      ],
      [
        "OpenVLA",
        98,
        0,
        98,
        0,
        0,
        97,
        0,
        77,
        0,
        89,
        45.9
      ],
      [
        "FIT-MAC (Ours)",
        99,
        93.4,
        98.8,
        87.2,
        48.8,
        97.2,
        40.2,
        86.8,
        37.8,
        97.8,
        78.7
      ]
    ]
  },
  "table2": {
    "columns": [
      "Perturbation",
      "Object SR",
      "Object IR",
      "Object RSR",
      "Spatial SR",
      "Spatial IR",
      "Spatial RSR"
    ],
    "rows": [
      [
        "Obj.",
        99,
        99.8,
        99.3,
        97.2,
        37.8,
        97.9
      ],
      [
        "Pos.",
        93.4,
        99.5,
        93.8,
        40.2,
        87.6,
        41.3
      ],
      [
        "Sem.",
        98.8,
        98.9,
        99.6,
        86.8,
        42.8,
        98.6
      ],
      [
        "Task",
        87.2,
        100,
        87.1,
        37.8,
        90.6,
        35.5
      ],
      [
        "Env.",
        48.8,
        50.4,
        97.5,
        97.8,
        21.2,
        99.1
      ]
    ]
  },
  "table3": {
    "columns": [
      "Configuration",
      "Object",
      "Spatial",
      "Average",
      "Object delta (pp)",
      "Spatial delta (pp)"
    ],
    "rows": [
      [
        "FIT-MAC",
        85.4,
        72,
        78.7,
        0,
        0
      ],
      [
        "w/o target correction",
        77.2,
        69.8,
        73.5,
        -8.2,
        -2.2
      ],
      [
        "w/o execution correction",
        47,
        62.4,
        54.7,
        -38.4,
        -9.6
      ],
      [
        "w/o hard pick",
        50.2,
        70,
        60.1,
        -35.2,
        -2
      ],
      [
        "w/o hard place",
        63.2,
        64,
        63.6,
        -22.2,
        -8
      ]
    ]
  },
  "table4": {
    "columns": [
      "Parameter",
      "Values (middle value is default)",
      "Object",
      "Spatial",
      "Average"
    ],
    "rows": [
      [
        "Failure threshold",
        "2 / 3 / 4",
        "85.4 / 85.4 / 85.4",
        "70.8 / 70.6 / 70.6",
        "78.1 / 78.0 / 78.0"
      ],
      [
        "Confidence threshold",
        "0.10 / 0.12 / 0.18",
        "85.4 / 85.4 / 85.4",
        "71.0 / 70.6 / 71.0",
        "78.2 / 78.0 / 78.2"
      ],
      [
        "Minimum rescue step",
        "8 / 12 / 16",
        "85.4 / 85.4 / 85.4",
        "71.2 / 70.6 / 71.0",
        "78.3 / 78.0 / 78.2"
      ],
      [
        "Execution horizon",
        "1 / 2 / 3",
        "68.0 / 85.4 / 87.4",
        "72.0 / 70.0 / 69.8",
        "70.0 / 77.7 / 78.6"
      ]
    ]
  },
  "figure4": [
    {
      "name": "LIBERO-Object",
      "base": [
        39.2,
        42.6,
        57.0
      ],
      "fit": [
        85.4,
        78.4,
        79.4
      ]
    },
    {
      "name": "LIBERO-Spatial",
      "base": [
        52.6,
        50.8,
        52.2
      ],
      "fit": [
        72.0,
        67.4,
        69.2
      ]
    }
  ]
}