# Bowl-to-plate on Franka manipulation Real-world

Source: [Bowl-to-plate on Franka manipulation Real-world](<https://www.sota2.com/research/sota/bowl-to-plate-on-franka-manipulation-real-world>)

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

Data updated: 2026-06-23T07:46:20.497Z

Evaluation of robotic performance on the Bowl-to-plate manipulation task using the Franka Real-world setup, measured by Task Success Rate (TSR) and State 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 | Bowl-to-plate |
| Dataset (including any stated split) | Franka manipulation Real-world |
| Metric | Task Success Rate |
| 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](<https://www.sota2.com/research/sota/bowl-to-plate-on-franka-manipulation-real-world.md?metric=Task%20Success%20Rate>): Higher is better; unit: PERCENT.

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

## Recorded results

| Method | Task Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| WoVR | 90 | Not recorded | 6a3a1307206542251d7c6f17 |
| SafeDojo | 90 | Not recorded | 6a3a1307206542251d7c6f17 |
| WMPO | 70 | Not recorded | 6a3a1307206542251d7c6f17 |
| PPO | 60 | Not recorded | 6a3a1307206542251d7c6f17 |
| SafeVLA | 60 | Not recorded | 6a3a1307206542251d7c6f17 |
| OpenVLA-OFT | 50 | Not recorded | 6a3a1307206542251d7c6f17 |
| AEGIS | 30 | Not recorded | 6a3a1307206542251d7c6f17 |

### WoVR

Task Success Rate: 90. Result ID: 6a3a39c4fbc373592c342f0f.

[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.

### SafeDojo

Task Success Rate: 90. Result ID: 6a3a39c4fbc373592c342f10.

[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.

### WMPO

Task Success Rate: 70. Result ID: 6a3a39c4fbc373592c342f0e.

[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.

### PPO

Task Success Rate: 60. Result ID: 6a3a39c4fbc373592c342f0c.

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

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

### SafeVLA

Task Success Rate: 60. Result ID: 6a3a39c4fbc373592c342f0d.

[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.

### OpenVLA-OFT

Task Success Rate: 50. Result ID: 6a3a39c4fbc373592c342f0a.

[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: 30. Result ID: 6a3a39c4fbc373592c342f0b.

[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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