# Articulated tool manipulation on Surgical Clamp (Real-world)

Source: [Articulated tool manipulation on Surgical Clamp (Real-world)](<https://www.sota2.com/research/sota/articulated-tool-manipulation-on-surgical-clamp-real-world>)

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

Data updated: 2026-03-06T07:18:21.073Z

Evaluation of articulated tool manipulation performance using real-world data collected from the Surgical Clamp setup, measured by success rate, opening displacement, and closure residual.

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 | Articulated tool manipulation |
| Dataset (including any stated split) | Surgical Clamp (Real-world) |
| Metric | Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| 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

- [Success Rate](<https://www.sota2.com/research/sota/articulated-tool-manipulation-on-surgical-clamp-real-world.md?metric=Success%20Rate>): Higher is better; unit: PERCENT.

- [Opening Displacement (mm)](<https://www.sota2.com/research/sota/articulated-tool-manipulation-on-surgical-clamp-real-world.md?metric=Opening%20Displacement%20(mm)>): Lower is better; unit: OTHER.

- [Closure Residual (mm)](<https://www.sota2.com/research/sota/articulated-tool-manipulation-on-surgical-clamp-real-world.md?metric=Closure%20Residual%20(mm)>): Lower is better; unit: OTHER.

## Recorded results

| Method | Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| CATFA | 100 | Not recorded | 68fa7be71e209131cea8b349 |
| Proprioceptive BC | 90 | Not recorded | 68fa7be71e209131cea8b349 |
| Sim-to-Real (Student) | 20 | Not recorded | 68fa7be71e209131cea8b349 |

### CATFA

Success Rate: 100. Result ID: 69aa7eb76dbb7075b953cdd2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7be71e209131cea8b349.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7be71e209131cea8b349.md>)

Recorded evaluation configuration: {"Policy":"CATFA (Ours)"}. This record does not assert independent reproduction.

### Proprioceptive BC

Success Rate: 90. Result ID: 69aa7eb76dbb7075b953cdd1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7be71e209131cea8b349.md>)

Recorded evaluation configuration: {"Policy":"Proprioceptive BC"}. This record does not assert independent reproduction.

### Sim-to-Real (Student)

Success Rate: 20. Result ID: 69aa7eb76dbb7075b953cdd0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7be71e209131cea8b349.md>)

Recorded evaluation configuration: {"Policy":"Sim-to-Real (Student)"}. This record does not assert independent reproduction.

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