ALOHA
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
ALOHA simulator
95HOB Success Rate
7
Aloha-Simulation Gym-Aloha Average
48.2Success Rate
6
Aloha-Simulation Transfer Cube
77.5Success Rate
6
ALOHA
83.9Reference Success Rate
5
ALOHA table-cleaning
83.1Tape SR
5
Aloha h=3
71.99V^TP Estimate
4
ALOHA Static
15Complete Success Rate
4
Real-world ALOHA OOD
88.5Color Fidelity
4
ALOHA (in-domain)
96.2Pick and Place Success Rate
4
ALOHA Real-world ToothBrush
90SR (Pick)
4
ALOHA Real-world StoreDrawer
100Success Rate (Pick)
4
ALOHA Real-world PickBall
75Success Rate (Pick)
4
Aloha Real-world (evaluation)
80Single Fold Success Rate
4
Aloha Real-world (evaluation)
100Place Success Rate
4
Aloha Real-world (evaluation)
80Grasp Success Rate
4
ARX ALOHA
9Grasp Bottle Success Score
3
ARX ALOHA
50Open Drawer Success Rate
3
Real ALOHA
0.8Success Rate (Real ALOHA)
3
ALOHA Real-world (deployment)
35Clear Tape Success
3
ALOHA
14.88Average Runtime (s)
3
Aloha Dual-Arm Real-World Generalization (test)
53.3Success Rate (Distractor)
3
ALOHA
2.44Env. Reward
2
ALOHA real-world platform
60Pick Cup Success Rate
2
Real-world ALOHA
—Primary metric
0
ALOHA Real-world
—Primary metric
0