# Long-Horizon Robotics Manipulation on Object-arrange (Unseen)

Source: [Long-Horizon Robotics Manipulation on Object-arrange (Unseen)](<https://www.sota2.com/research/sota/long-horizon-robotics-manipulation-on-object-arrange-unseen>)

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

Data updated: 2026-02-26T06:05:00.577Z

Evaluation of long-horizon robotic manipulation performance on the Object-arrange dataset, specifically focusing on unseen scenarios.

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 | Long-Horizon Robotics Manipulation |
| Dataset (including any stated split) | Object-arrange (Unseen) |
| Metric | Success Rate |
| Unit | PERCENT |
| 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

- [Success Rate](<https://www.sota2.com/research/sota/long-horizon-robotics-manipulation-on-object-arrange-unseen.md?metric=Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| HiP | 92.3 | Not recorded | 68fa70b51e209131cea4cb76 |
| HiP | 75.4 | Not recorded | 68fa70b51e209131cea4cb76 |
| SayCan | 66.9 | Not recorded | 68fa70b51e209131cea4cb76 |
| UniPi | 44.2 | Not recorded | 68fa70b51e209131cea4cb76 |
| Gato | 36.5 | Not recorded | 68fa70b51e209131cea4cb76 |
| Trajectory Transformer | 29.8 | Not recorded | 68fa70b51e209131cea4cb76 |
| Action Diffuser | 27.6 | Not recorded | 68fa70b51e209131cea4cb76 |
| Transformer BC | 7.3 | Not recorded | 68fa70b51e209131cea4cb76 |

### HiP

Success Rate: 92.3. Result ID: 699154d93a6c314849075de1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Implementation](<https://hierarchical-planning-foundation-model.github.io/>)

Recorded evaluation configuration: {"oracle subgoals":true}. This record does not assert independent reproduction.

### HiP

Success Rate: 75.4. Result ID: 699154d93a6c314849075de4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Implementation](<https://hierarchical-planning-foundation-model.github.io/>)

Recorded evaluation configuration: {"oracle subgoals":false}. This record does not assert independent reproduction.

### SayCan

Success Rate: 66.9. Result ID: 699154d93a6c314849075de3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d3c1e209131cea38aa5.md>)

Recorded evaluation configuration: {"oracle subgoals":false}. This record does not assert independent reproduction.

### UniPi

Success Rate: 44.2. Result ID: 699154d93a6c314849075de2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5025a.md>)

[Implementation](<https://universal-policy.github.io/>)

Recorded evaluation configuration: {"oracle subgoals":false}. This record does not assert independent reproduction.

### Gato

Success Rate: 36.5. Result ID: 699154d93a6c314849075dde.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6de71e209131cea3ccd3.md>)

Recorded evaluation configuration: {"oracle subgoals":true}. This record does not assert independent reproduction.

### Trajectory Transformer

Success Rate: 29.8. Result ID: 699154d93a6c314849075ddf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b511e209131cea2d9cb.md>)

[Implementation](<https://www.sota2.com/github.com/jannerm/trajectory-transformer>)

Recorded evaluation configuration: {"oracle subgoals":true}. This record does not assert independent reproduction.

### Action Diffuser

Success Rate: 27.6. Result ID: 699154d93a6c314849075de0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e3b1e209131cea3e868.md>)

Recorded evaluation configuration: {"oracle subgoals":true}. This record does not assert independent reproduction.

### Transformer BC

Success Rate: 7.3. Result ID: 699154d93a6c314849075ddd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70b51e209131cea4cb76.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f7d.md>)

[Implementation](<http://github.com/google-research/robotics_transformer>)

Recorded evaluation configuration: {"oracle subgoals":true}. This record does not assert independent reproduction.

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