# Pick-and-place robot manipulation on Sim-to-real Real-world Evaluation Scenes Source: [Pick-and-place robot manipulation on Sim-to-real Real-world Evaluation Scenes]() Collection index: [llms.txt]() Data updated: 2026-03-20T09:15:22.751Z Evaluation of pick-and-place performance in simulated-to-real transfer scenarios, measured by success rates (PSR, SR, DFR, SFR) and time to finish (TF). 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 | Pick-and-place robot manipulation | | Dataset (including any stated split) | Sim-to-real Real-world Evaluation Scenes | | Metric | PSR | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 26 of 26 | | 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 - [PSR](): Higher is better; unit: PERCENT. - [SR](): Higher is better; unit: PERCENT. - [DFR](): Lower is better; unit: PERCENT. - [SFR](): Higher is better; unit: PERCENT. - [TF (s)](): Lower is better; unit: TIME. ## Recorded results | Method | PSR | Result date | Report paper | | --- | --- | --- | --- | | PPOFlow | 100 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 100 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 100 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 100 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 100 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 90 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 90 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 90 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 88.3 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 80 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 80 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 80 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 70 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 70 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 60 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 60 | Not recorded | 69bcd4750636e5bf4afc2950 | | PPOFlow | 60 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 50 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 45 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 40 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 40 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 40 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 30 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 30 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 20 | Not recorded | 69bcd4750636e5bf4afc2950 | | Imitation baseline πpre | 20 | Not recorded | 69bcd4750636e5bf4afc2950 | ### PPOFlow PSR: 100. Result ID: 69bd101847f34ce924a75b04. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"1","Language Command":"put the broccoli on the mug.","Scene Distractors":"knife, cutting board","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 100. Result ID: 69bd101847f34ce924a75b0a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"4","Language Command":"put the (pink) eraser on the notebook.","Scene Distractors":"black pen, mug","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 100. Result ID: 69bd101847f34ce924a75b0c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"5","Language Command":"put the (yellow) brush on the bowl.","Scene Distractors":"banana, yellow marker","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 100. Result ID: 69bd101847f34ce924a75b0e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"6","Language Command":"put the white eraser on the mug.","Scene Distractors":"pink eraser, black pen, blue pen","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 100. Result ID: 69bd101847f34ce924a75b18. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"11","Language Command":"put the blue teacup on the yellow teacup.","Scene Distractors":"purple teacup, pink teapot, blue plate, yellow plate","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 90. Result ID: 69bd101847f34ce924a75b02. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"0","Language Command":"put the banana on the bowl.","Scene Distractors":"broccoli, strawberry, plate","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 90. Result ID: 69bd101847f34ce924a75b06. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"2","Language Command":"put the mushroom on the bowl.","Scene Distractors":"banana, broccoli, plate","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 90. Result ID: 69bd101847f34ce924a75b12. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"8","Language Command":"put the blue pen on the (blue) bowl.","Scene Distractors":"black pen, white eraser, basket","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 88.3. Result ID: 69bd101847f34ce924a75b1a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"All","Training Scenes":"100"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 80. Result ID: 69bd101847f34ce924a75b01. [Reporting paper]() Recorded evaluation configuration: {"Scene":"0","Language Command":"put the banana on the bowl.","Scene Distractors":"broccoli, strawberry, plate"}. This record does not assert independent reproduction. ### PPOFlow PSR: 80. Result ID: 69bd101847f34ce924a75b08. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"3","Language Command":"put the spoon on the napkin.","Scene Distractors":"fork, plate","Training Scenes":"100"}. This record does not assert independent reproduction. ### PPOFlow PSR: 80. Result ID: 69bd101847f34ce924a75b10. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"7","Language Command":"put the red knife on the cutting board.","Scene Distractors":"regular knife","Training Scenes":"100"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 70. Result ID: 69bd101847f34ce924a75b0f. [Reporting paper]() Recorded evaluation configuration: {"Scene":"7","Language Command":"put the red knife on the cutting board.","Scene Distractors":"regular knife"}. This record does not assert independent reproduction. ### PPOFlow PSR: 70. Result ID: 69bd101847f34ce924a75b14. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"9","Language Command":"put the green marker on the basket.","Scene Distractors":"red marker, yellow marker, dry erase eraser, cardboard box","Training Scenes":"100"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 60. Result ID: 69bd101847f34ce924a75b0b. [Reporting paper]() Recorded evaluation configuration: {"Scene":"5","Language Command":"put the (yellow) brush on the bowl.","Scene Distractors":"banana, yellow marker"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 60. Result ID: 69bd101847f34ce924a75b13. [Reporting paper]() Recorded evaluation configuration: {"Scene":"9","Language Command":"put the green marker on the basket.","Scene Distractors":"red marker, yellow marker, dry erase eraser, cardboard box"}. This record does not assert independent reproduction. ### PPOFlow PSR: 60. Result ID: 69bd101847f34ce924a75b16. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Scene":"10","Language Command":"put the screwdriver on the basket.","Scene Distractors":"knife, black marker","Training Scenes":"100"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 50. Result ID: 69bd101847f34ce924a75b17. [Reporting paper]() Recorded evaluation configuration: {"Scene":"11","Language Command":"put the blue teacup on the yellow teacup.","Scene Distractors":"purple teacup, pink teapot, blue plate, yellow plate"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 45. Result ID: 69bd101847f34ce924a75b19. [Reporting paper]() Recorded evaluation configuration: {"Scene":"All"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 40. Result ID: 69bd101847f34ce924a75b03. [Reporting paper]() Recorded evaluation configuration: {"Scene":"1","Language Command":"put the broccoli on the mug.","Scene Distractors":"knife, cutting board"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 40. Result ID: 69bd101847f34ce924a75b09. [Reporting paper]() Recorded evaluation configuration: {"Scene":"4","Language Command":"put the (pink) eraser on the notebook.","Scene Distractors":"black pen, mug"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 40. Result ID: 69bd101847f34ce924a75b0d. [Reporting paper]() Recorded evaluation configuration: {"Scene":"6","Language Command":"put the white eraser on the mug.","Scene Distractors":"pink eraser, black pen, blue pen"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 30. Result ID: 69bd101847f34ce924a75b05. [Reporting paper]() Recorded evaluation configuration: {"Scene":"2","Language Command":"put the mushroom on the bowl.","Scene Distractors":"banana, broccoli, plate"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 30. Result ID: 69bd101847f34ce924a75b11. [Reporting paper]() Recorded evaluation configuration: {"Scene":"8","Language Command":"put the blue pen on the (blue) bowl.","Scene Distractors":"black pen, white eraser, basket"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 20. Result ID: 69bd101847f34ce924a75b07. [Reporting paper]() Recorded evaluation configuration: {"Scene":"3","Language Command":"put the spoon on the napkin.","Scene Distractors":"fork, plate"}. This record does not assert independent reproduction. ### Imitation baseline πpre PSR: 20. Result ID: 69bd101847f34ce924a75b15. [Reporting paper]() Recorded evaluation configuration: {"Scene":"10","Language Command":"put the screwdriver on the basket.","Scene Distractors":"knife, black marker"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.