Looking for real world comparisons between WALL OSS pi0.6 and OpenVLA[D]

I am choosing a baseline for a real manipulation stack and trying not to lose a month on setup that someone here has already done.

Shortlist is OpenVLA, pi0.6, and WALL OSS from X Square Robot. OpenVLA is still the easiest reference point with lots of reproductions. pi0.6 looks strong from recent public updates but I have not seen many fully transparent ablations. WALL OSS looks promising in LeRobot and I can run inference on UR5 plus parallel gripper without issues, around 70 ms on a 4090 in my local setup.

What I need is less paper score discussion and more deployment reality.
If you have run a controlled comparison on LIBERO or ManipArena style tasks, I would really value failure modes and data budget details.
If you have fine tuned any of these on real hardware, which one was least painful on demonstration volume.
If you run continuous updates, how often do you retrain and how bad is drift over a few weeks.

I can post my own table once I finish, but if there is existing work I should read first that would save a lot of duplicated effort.