# Apple Selection on Real-world Franka manipulation

Source: [Apple Selection on Real-world Franka manipulation](<https://www.sota2.com/research/sota/apple-selection-on-real-world-franka-manipulation>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-23T07:46:20.519Z

Evaluation of robotic performance on selecting apples within the Real-world Franka manipulation environment, measured by Task Success Rate (TSR) and Selection Success Rate (SSR).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Apple selection |
| Dataset (including any stated split) | Real-world Franka manipulation |
| Metric | Task Success Rate (TSR) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Task Success Rate (TSR)](<https://www.sota2.com/research/sota/apple-selection-on-real-world-franka-manipulation.md?metric=Task%20Success%20Rate%20(TSR)>): Higher is better; unit: PERCENT.

- [Selection Success Rate (SSR)](<https://www.sota2.com/research/sota/apple-selection-on-real-world-franka-manipulation.md?metric=Selection%20Success%20Rate%20(SSR)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Task Success Rate (TSR) | Result date | Report paper |
| --- | --- | --- | --- |
| SafeDojo | 100 | Not recorded | 6a3a1307206542251d7c6f17 |
| WoVR | 90 | Not recorded | 6a3a1307206542251d7c6f17 |
| WMPO | 70 | Not recorded | 6a3a1307206542251d7c6f17 |
| SafeVLA | 60 | Not recorded | 6a3a1307206542251d7c6f17 |
| PPO | 50 | Not recorded | 6a3a1307206542251d7c6f17 |
| OpenVLA-OFT | 40 | Not recorded | 6a3a1307206542251d7c6f17 |
| AEGIS | 40 | Not recorded | 6a3a1307206542251d7c6f17 |

### SafeDojo

Task Success Rate (TSR): 100. Result ID: 6a3a39c4fbc373592c342f17.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

Recorded evaluation configuration: {"Type":"Ours"}. This record does not assert independent reproduction.

### WoVR

Task Success Rate (TSR): 90. Result ID: 6a3a39c4fbc373592c342f16.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6993f6059ebc499c97409ae1.md>)

Recorded evaluation configuration: {"Type":"Model-based RL"}. This record does not assert independent reproduction.

### WMPO

Task Success Rate (TSR): 70. Result ID: 6a3a39c4fbc373592c342f15.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691566280052cac1dc65d9e9.md>)

[Implementation](<https://github.com/WM-PO/WMPO>)

Recorded evaluation configuration: {"Type":"Model-based RL"}. This record does not assert independent reproduction.

### SafeVLA

Task Success Rate (TSR): 60. Result ID: 6a3a39c4fbc373592c342f14.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa790a1e209131cea7bd50.md>)

Recorded evaluation configuration: {"Type":"Model-free RL"}. This record does not assert independent reproduction.

### PPO

Task Success Rate (TSR): 50. Result ID: 6a3a39c4fbc373592c342f13.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

Recorded evaluation configuration: {"Type":"Model-free RL"}. This record does not assert independent reproduction.

### OpenVLA-OFT

Task Success Rate (TSR): 40. Result ID: 6a3a39c4fbc373592c342f11.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78471e209131cea7794b.md>)

Recorded evaluation configuration: {"Type":"SFT"}. This record does not assert independent reproduction.

### AEGIS

Task Success Rate (TSR): 40. Result ID: 6a3a39c4fbc373592c342f12.

[Reporting paper](<https://www.sota2.com/research/paper/6a3a1307206542251d7c6f17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6940e792456146936284f767.md>)

Recorded evaluation configuration: {"Type":"CBF"}. This record does not assert independent reproduction.

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