# pushing on SAPIEN (test)

Source: [pushing on SAPIEN (test)](<https://www.sota2.com/research/sota/pushing-on-sapien-test>)

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

Data updated: 2026-02-26T06:03:39.682Z

Evaluation of model performance on the pushing task using the test split of the SAPIEN dataset, primarily measured by Sample Manipulation Accuracy.

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 | pushing |
| Dataset (including any stated split) | SAPIEN (test) |
| Metric | Sample Manipulation Accuracy |
| 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

- [Sample Manipulation Accuracy](<https://www.sota2.com/research/sota/pushing-on-sapien-test.md?metric=Sample%20Manipulation%20Accuracy>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Sample Manipulation Accuracy | Result date | Report paper |
| --- | --- | --- | --- |
| Ours | 43.52 | Not recorded | 68fa7b601e209131cea88000 |
| Ours w/o OF | 39.43 | Not recorded | 68fa7b601e209131cea88000 |
| O2O-M | 37.33 | Not recorded | 68fa7b601e209131cea88000 |
| Ours w/o CL | 36.63 | Not recorded | 68fa7b601e209131cea88000 |
| W2A-R | 34.76 | Not recorded | 68fa7b601e209131cea88000 |
| O2O | 34.6 | Not recorded | 68fa7b601e209131cea88000 |
| RRT-CA | 23.65 | Not recorded | 68fa7b601e209131cea88000 |
| W2A | 17.8 | Not recorded | 68fa7b601e209131cea88000 |

### Ours

Sample Manipulation Accuracy: 43.52. Result ID: 698b84b57a967eddb76f3f44.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

Recorded evaluation configuration: {"Occlusion Field":true,"Contrastive Learning":true}. This record does not assert independent reproduction.

### Ours w/o OF

Sample Manipulation Accuracy: 39.43. Result ID: 698b84b57a967eddb76f3f42.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

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

### O2O-M

Sample Manipulation Accuracy: 37.33. Result ID: 698b84b57a967eddb76f3f40.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

Recorded evaluation configuration: {"training setting":"complex multi-occluder scenes"}. This record does not assert independent reproduction.

### Ours w/o CL

Sample Manipulation Accuracy: 36.63. Result ID: 698b84b57a967eddb76f3f43.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

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

### W2A-R

Sample Manipulation Accuracy: 34.76. Result ID: 698b84b57a967eddb76f3f41.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a901e209131cea28e23.md>)

Recorded evaluation configuration: {"robot arm awareness":true}. This record does not assert independent reproduction.

### O2O

Sample Manipulation Accuracy: 34.6. Result ID: 698b84b57a967eddb76f3f3f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b1c1e209131cea2c475.md>)

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

### RRT-CA

Sample Manipulation Accuracy: 23.65. Result ID: 698b84b57a967eddb76f3f3d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

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

### W2A

Sample Manipulation Accuracy: 17.8. Result ID: 698b84b57a967eddb76f3f3e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b601e209131cea88000.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a901e209131cea28e23.md>)

Recorded evaluation configuration: {"actionable points":"highlighting every actionable point"}. This record does not assert independent reproduction.

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