# Robot Manipulation on Franka Real-world Environments

Source: [Robot Manipulation on Franka Real-world Environments](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments>)

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

Data updated: 2026-03-19T08:47:21.882Z

Evaluation of robot manipulation performance across ten specific tasks (e.g., Pick Place, Fold Towel, Unscrew Bottle) executed within the Franka Real-world Environments platform, measured by task-specific success rates and overall average success rate.

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) | Franka Real-world Environments |
| Metric | Average Success Rate (SR) |
| 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

- [Average Success Rate (SR)](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Average%20Success%20Rate%20(SR)>): Higher is better; unit: PERCENT.

- [Pick Place Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Pick%20Place%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Stack Bowls Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Stack%20Bowls%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Push Buttons Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Push%20Buttons%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Collect Fruits Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Collect%20Fruits%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Put Item In Drawer Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Put%20Item%20In%20Drawer%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Rotate Handle Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Rotate%20Handle%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Fold Towel Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Fold%20Towel%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Open Lip Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Open%20Lip%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Unscrew Bottle Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Unscrew%20Bottle%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Reach Drag Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-franka-real-world-environments.md?metric=Reach%20Drag%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Average Success Rate (SR) | Result date | Report paper |
| --- | --- | --- | --- |
| TVVE | 70 | Not recorded | 68fa7c691e209131cea8dece |
| ARP | 62 | Not recorded | 68fa7c691e209131cea8dece |

### TVVE

Average Success Rate (SR): 70. Result ID: 69bbb81647f34ce924a5a4c1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c691e209131cea8dece.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c691e209131cea8dece.md>)

Recorded evaluation configuration: {"Arm":"Franka"}. This record does not assert independent reproduction.

### ARP

Average Success Rate (SR): 62. Result ID: 69bbb81647f34ce924a5a4c0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c691e209131cea8dece.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77a01e209131cea7474f.md>)

[Implementation](<http://github.com/mlzxy/arp>)

Recorded evaluation configuration: {"Arm":"Franka"}. This record does not assert independent reproduction.

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