# Grasping on Robot Grasping Simulation

Source: [Grasping on Robot Grasping Simulation](<https://www.sota2.com/research/sota/grasping-on-robot-grasping-simulation>)

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

Data updated: 2026-04-29T07:23:03.803Z

Evaluation of robotic grasping performance within a simulation environment, reporting episodic reward, continuity cost, and grasping success rate.

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 | Grasping |
| Dataset (including any stated split) | Robot Grasping Simulation |
| Metric | Episodic Reward |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| 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

- [Episodic Reward](<https://www.sota2.com/research/sota/grasping-on-robot-grasping-simulation.md?metric=Episodic%20Reward>): Higher is better; unit: SCALAR.

- [Continuity Cost](<https://www.sota2.com/research/sota/grasping-on-robot-grasping-simulation.md?metric=Continuity%20Cost>): Lower is better; unit: SCALAR.

- [Grasping Success Rate](<https://www.sota2.com/research/sota/grasping-on-robot-grasping-simulation.md?metric=Grasping%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Episodic Reward | Result date | Report paper |
| --- | --- | --- | --- |
| Ideal | -12.43 | Not recorded | 68fa74a51e209131cea62e53 |
| CDR-Oλ | -12.74 | Not recorded | 68fa74a51e209131cea62e53 |
| Finetuning | -12.96 | Not recorded | 68fa74a51e209131cea62e53 |
| CDR-λ | -25.84 | Not recorded | 68fa74a51e209131cea62e53 |
| CDR-λ | -27.63 | Not recorded | 68fa74a51e209131cea62e53 |
| Randomized | -28.42 | Not recorded | 68fa74a51e209131cea62e53 |
| Finetuning | -42.88 | Not recorded | 68fa74a51e209131cea62e53 |
| CDR-Oλ | -44.81 | Not recorded | 68fa74a51e209131cea62e53 |

### Ideal

Episodic Reward: -12.43. Result ID: 69f1b1c447f34ce924d7c792.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da21e209131cea3b089.md>)

Recorded evaluation configuration: {"Order":"NA"}. This record does not assert independent reproduction.

### CDR-Oλ

Episodic Reward: -12.74. Result ID: 69f1b1c447f34ce924d7c78e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

Recorded evaluation configuration: {"Order":"NLT"}. This record does not assert independent reproduction.

### Finetuning

Episodic Reward: -12.96. Result ID: 69f1b1c447f34ce924d7c790.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da21e209131cea3b089.md>)

Recorded evaluation configuration: {"Order":"NLT"}. This record does not assert independent reproduction.

### CDR-λ

Episodic Reward: -25.84. Result ID: 69f1b1c447f34ce924d7c78c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

Recorded evaluation configuration: {"Order":"NLT"}. This record does not assert independent reproduction.

### CDR-λ

Episodic Reward: -27.63. Result ID: 69f1b1c447f34ce924d7c78d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

Recorded evaluation configuration: {"Order":"TLN"}. This record does not assert independent reproduction.

### Randomized

Episodic Reward: -28.42. Result ID: 69f1b1c447f34ce924d7c793.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da21e209131cea3b089.md>)

Recorded evaluation configuration: {"Order":"NA"}. This record does not assert independent reproduction.

### Finetuning

Episodic Reward: -42.88. Result ID: 69f1b1c447f34ce924d7c791.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da21e209131cea3b089.md>)

Recorded evaluation configuration: {"Order":"TLN"}. This record does not assert independent reproduction.

### CDR-Oλ

Episodic Reward: -44.81. Result ID: 69f1b1c447f34ce924d7c78f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74a51e209131cea62e53.md>)

Recorded evaluation configuration: {"Order":"TLN"}. This record does not assert independent reproduction.

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