# Goal-conditioned Manipulation on D4RL Kitchen Tasks

Source: [Goal-conditioned Manipulation on D4RL Kitchen Tasks](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks>)

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

Data updated: 2026-03-19T08:51:24.344Z

Evaluation of goal-conditioned robotic manipulation performance across the D4RL Kitchen Tasks suite, reporting performance metrics for Complete, Mixed, and Partial task configurations.

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 | Goal-conditioned Manipulation |
| Dataset (including any stated split) | D4RL Kitchen Tasks |
| Metric | Kitchen Complete v0 Success |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| 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

- [Kitchen Complete v0 Success](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks.md?metric=Kitchen%20Complete%20v0%20Success>): Higher is better; unit: PERCENT.

- [Kitchen Mixed v0 Success](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks.md?metric=Kitchen%20Mixed%20v0%20Success>): Higher is better; unit: PERCENT.

- [Kitchen Partial v0 Success](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks.md?metric=Kitchen%20Partial%20v0%20Success>): Higher is better; unit: PERCENT.

- [Average Success](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks.md?metric=Average%20Success>): Higher is better; unit: PERCENT.

- [Gain (%)](<https://www.sota2.com/research/sota/goal-conditioned-manipulation-on-d4rl-kitchen-tasks.md?metric=Gain%20(%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Kitchen Complete v0 Success | Result date | Report paper |
| --- | --- | --- | --- |
| ICQL | 79.3 | Not recorded | 68fa7bb51e209131cea8a0fb |
| BC | 65 | Not recorded | 68fa7bb51e209131cea8a0fb |
| IQL | 59.2 | Not recorded | 68fa7bb51e209131cea8a0fb |
| TD3+BC | 57.5 | Not recorded | 68fa7bb51e209131cea8a0fb |
| DT | 52.5 | Not recorded | 68fa7bb51e209131cea8a0fb |
| CQL | 43.8 | Not recorded | 68fa7bb51e209131cea8a0fb |

### ICQL

Kitchen Complete v0 Success: 79.3. Result ID: 69bbb90947f34ce924a5afcb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### BC

Kitchen Complete v0 Success: 65. Result ID: 69bbb90947f34ce924a5afc6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### IQL

Kitchen Complete v0 Success: 59.2. Result ID: 69bbb90947f34ce924a5afca.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af71e209131cea2b67f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### TD3+BC

Kitchen Complete v0 Success: 57.5. Result ID: 69bbb90947f34ce924a5afc8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b631e209131cea2df4f.md>)

[Implementation](<https://github.com/sfujim/TD3_BC>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DT

Kitchen Complete v0 Success: 52.5. Result ID: 69bbb90947f34ce924a5afc7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a381e209131cea26b46.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CQL

Kitchen Complete v0 Success: 43.8. Result ID: 69bbb90947f34ce924a5afc9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bb51e209131cea8a0fb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682a1e209131cea1a6c2.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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