# Robot Manipulation on ALOHA Put On Shoe real 1.0 (test)

Source: [Robot Manipulation on ALOHA Put On Shoe real 1.0 (test)](<https://www.sota2.com/research/sota/robot-manipulation-on-aloha-put-on-shoe-real-1-0-test>)

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

Data updated: 2026-02-26T05:47:13.949Z

Evaluation of Robot Manipulation performance on the ALOHA Put On Shoe real 1.0 test set, reporting success rates for Insert, Support, and Secure actions.

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 | Robot Manipulation |
| Dataset (including any stated split) | ALOHA Put On Shoe real 1.0 (test) |
| Metric | Insert Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 2 of 2 |
| 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

- [Insert Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-aloha-put-on-shoe-real-1-0-test.md?metric=Insert%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Support Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-aloha-put-on-shoe-real-1-0-test.md?metric=Support%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Secure Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-aloha-put-on-shoe-real-1-0-test.md?metric=Secure%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Insert Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| ACT | 92 | Not recorded | 68fa6f251e209131cea4404b |
| BeT | 12 | Not recorded | 68fa6f251e209131cea4404b |

### ACT

Insert Success Rate: 92. Result ID: 6990a8323a6c314849023301.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f251e209131cea4404b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f251e209131cea4404b.md>)

[Implementation](<https://www.sota2.com/tonyzhaozh.github.io/aloha>)

Recorded evaluation configuration: {"Training Data":"Human demonstrations","Evaluations":25,"Seeds":1}. This record does not assert independent reproduction.

### BeT

Insert Success Rate: 12. Result ID: 6990a8323a6c314849023300.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f251e209131cea4404b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d9d1e209131cea3ad74.md>)

Recorded evaluation configuration: {"Training Data":"Human demonstrations","Evaluations":25,"Seeds":1}. This record does not assert independent reproduction.

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