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 deployment reality.