# Bimanual Manipulation on Skill Recomposition Tasks Unseen Combinations

Source: [Bimanual Manipulation on Skill Recomposition Tasks Unseen Combinations](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations>)

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

Data updated: 2026-03-05T08:51:27.080Z

Evaluation of bimanual manipulation performance across unseen combinations of skills and objects (e.g., Cup×Cake, Box×Stir) within the Skill Recomposition Tasks dataset.

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 | Bimanual Manipulation |
| Dataset (including any stated split) | Skill Recomposition Tasks Unseen Combinations |
| Metric | Success Rate (Cup x Cake) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| 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 (Cup x Cake)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Cup%20x%20Cake)>): Higher is better; unit: PERCENT.

- [Success Rate (Cup x Stir)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Cup%20x%20Stir)>): Higher is better; unit: PERCENT.

- [Success Rate (Cup x Smash)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Cup%20x%20Smash)>): Higher is better; unit: PERCENT.

- [Success Rate (Box x Cake)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Box%20x%20Cake)>): Higher is better; unit: PERCENT.

- [Success Rate (Box x Stir)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Box%20x%20Stir)>): Higher is better; unit: PERCENT.

- [Success Rate (Box x Smash)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Box%20x%20Smash)>): Higher is better; unit: PERCENT.

- [Success Rate (Mug x Cake)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Mug%20x%20Cake)>): Higher is better; unit: PERCENT.

- [Success Rate (Mug x Stir)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Mug%20x%20Stir)>): Higher is better; unit: PERCENT.

- [Success Rate (Mug x Smash)](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Success%20Rate%20(Mug%20x%20Smash)>): Higher is better; unit: PERCENT.

- [Average Success Rate](<https://www.sota2.com/research/sota/bimanual-manipulation-on-skill-recomposition-tasks-unseen-combinations.md?metric=Average%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Success Rate (Cup x Cake) | Result date | Report paper |
| --- | --- | --- | --- |
| SkillVLA | 70 | Not recorded | 69a90e122d603e6de3e4085b |
| TwinVLA | 10 | Not recorded | 69a90e122d603e6de3e4085b |
| π0.5 | 0 | Not recorded | 69a90e122d603e6de3e4085b |
| π0-FAST | 0 | Not recorded | 69a90e122d603e6de3e4085b |

### SkillVLA

Success Rate (Cup x Cake): 70. Result ID: 69a943fb6dbb7075b952d427.

[Reporting paper](<https://www.sota2.com/research/paper/69a90e122d603e6de3e4085b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69a90e122d603e6de3e4085b.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot"}. This record does not assert independent reproduction.

### TwinVLA

Success Rate (Cup x Cake): 10. Result ID: 69a943fb6dbb7075b952d426.

[Reporting paper](<https://www.sota2.com/research/paper/69a90e122d603e6de3e4085b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691171652828b7cc6937d496.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot"}. This record does not assert independent reproduction.

### π0.5

Success Rate (Cup x Cake): 0. Result ID: 69a943fb6dbb7075b952d424.

[Reporting paper](<https://www.sota2.com/research/paper/69a90e122d603e6de3e4085b.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot"}. This record does not assert independent reproduction.

### π0-FAST

Success Rate (Cup x Cake): 0. Result ID: 69a943fb6dbb7075b952d425.

[Reporting paper](<https://www.sota2.com/research/paper/69a90e122d603e6de3e4085b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76951e209131cea6de09.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot"}. This record does not assert independent reproduction.

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