# Predicate and Skill Learning on General Robotic Manipulation Tasks

Source: [Predicate and Skill Learning on General Robotic Manipulation Tasks](<https://www.sota2.com/research/sota/predicate-and-skill-learning-on-general-robotic-manipulation-tasks>)

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

Data updated: 2026-03-12T07:03:26.693Z

Evaluation of robotic systems on general manipulation tasks, focusing on the efficiency of planning time and the required number of demonstrations for successful predicate and skill acquisition.

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 | Predicate and Skill Learning |
| Dataset (including any stated split) | General Robotic Manipulation Tasks |
| Metric | Number of Demonstrations |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 4 of 4 |
| 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

- [Number of Demonstrations](<https://www.sota2.com/research/sota/predicate-and-skill-learning-on-general-robotic-manipulation-tasks.md?metric=Number%20of%20Demonstrations>): Lower is better; unit: SCALAR.

- [Planning Time](<https://www.sota2.com/research/sota/predicate-and-skill-learning-on-general-robotic-manipulation-tasks.md?metric=Planning%20Time>): Lower is better; unit: TIME.

## Recorded results

| Method | Number of Demonstrations | Result date | Report paper |
| --- | --- | --- | --- |
| SymSkill | 1 | Not recorded | 68fa7bd41e209131cea8ac2d |
| NOD-TAMP | 1 | Not recorded | 68fa7bd41e209131cea8ac2d |
| NSIL | 200 | Not recorded | 68fa7bd41e209131cea8ac2d |
| LAMP | 200 | Not recorded | 68fa7bd41e209131cea8ac2d |

### SymSkill

Number of Demonstrations: 1. Result ID: 69b264356dbb7075b95c7261.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bd41e209131cea8ac2d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7bd41e209131cea8ac2d.md>)

Recorded evaluation configuration: {"Predicates":"Relative Pose Cluster (Start/End Motion)","Skills":"SE(3) LPV-DS \[12\]"}. This record does not assert independent reproduction.

### NOD-TAMP

Number of Demonstrations: 1. Result ID: 69b264356dbb7075b95c7264.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bd41e209131cea8ac2d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75111e209131cea65769.md>)

Recorded evaluation configuration: {"Predicates":"NDF Features","Skills":"Optimization + MP"}. This record does not assert independent reproduction.

### NSIL

Number of Demonstrations: 200. Result ID: 69b264356dbb7075b95c7262.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bd41e209131cea8ac2d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779c1e209131cea7455f.md>)

Recorded evaluation configuration: {"Predicates":"Relative Pose Cluster (Low Relative Velocity)","Skills":"MLP BC"}. This record does not assert independent reproduction.

### LAMP

Number of Demonstrations: 200. Result ID: 69b264356dbb7075b95c7263.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bd41e209131cea8ac2d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7be11e209131cea8b03d.md>)

Recorded evaluation configuration: {"Predicates":"Relational Critical Regions","Skills":"Motion Planning (MP)"}. This record does not assert independent reproduction.

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