The largest gain comes from Layout, the axis where structured scene diversity matters most.
LIBERO-Plus evaluates robustness across seven perturbation axes: Camera, Light, Sensor Noise, Background, Layout, Language, and Robot.
The largest absolute gain from AXIS-100% appears on Layout: +23.2 points over vanilla π0.5.
This directly validates one of the core AXIS data augmentation methods of layout randomization.
AXIS also improves more than visual robustness.
Beyond Layout, AXIS-100% also improves several other LIBERO-Plus axes. These axes measure different kinds of distribution shift.
The result shows that AXIS also improves robustness to viewpoint shifts, degraded visual observations, robot initial-state changes, and task wording variation.