# Robot Manipulation on LIBERO GOAL OOD (Success Rate)

Source: [Robot Manipulation on LIBERO GOAL OOD (Success Rate)](<https://www.sota2.com/research/sota/robot-manipulation-on-libero-goal-ood-success-rate>)

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

Data updated: 2026-05-25T08:40:50.492Z

Evaluation of robot manipulation performance on the Out-of-Distribution (OOD) split of the LIBERO Goal dataset, reporting 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) | LIBERO GOAL OOD |
| Metric | Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| 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

- [Success Rate](<https://www.sota2.com/research/sota/robot-manipulation-on-libero-goal-ood-success-rate.md?metric=Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| SMoDP | 66 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE+LoRA | 63.5 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| SMoDP | 59 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE-scratch | 49.5 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE+LoRA | 41 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| SMoDP | 32 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE+LoRA | 31.9 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE-scratch | 17 | Not recorded | 6a13d7676f71c5ae7dc9e788 |
| MoDE-scratch | 12.9 | Not recorded | 6a13d7676f71c5ae7dc9e788 |

### SMoDP

Success Rate: 66. Result ID: 6a140af9fbc373592c0b4900.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.7","Total Parameters (M)":"401","Number of Demos":"10 Demos"}. This record does not assert independent reproduction.

### MoDE+LoRA

Success Rate: 63.5. Result ID: 6a140af9fbc373592c0b48fa.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.6","Total Parameters (M)":"487","Number of Demos":"10 Demos"}. This record does not assert independent reproduction.

### SMoDP

Success Rate: 59. Result ID: 6a140af9fbc373592c0b48ff.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.7","Total Parameters (M)":"401","Number of Demos":"5 Demos"}. This record does not assert independent reproduction.

### MoDE-scratch

Success Rate: 49.5. Result ID: 6a140af9fbc373592c0b48fd.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"487","Total Parameters (M)":"487","Number of Demos":"10 Demos"}. This record does not assert independent reproduction.

### MoDE+LoRA

Success Rate: 41. Result ID: 6a140af9fbc373592c0b48f9.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.6","Total Parameters (M)":"487","Number of Demos":"5 Demos"}. This record does not assert independent reproduction.

### SMoDP

Success Rate: 32. Result ID: 6a140af9fbc373592c0b48fe.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.7","Total Parameters (M)":"401","Number of Demos":"1 Demo"}. This record does not assert independent reproduction.

### MoDE+LoRA

Success Rate: 31.9. Result ID: 6a140af9fbc373592c0b48f8.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"13.6","Total Parameters (M)":"487","Number of Demos":"1 Demo"}. This record does not assert independent reproduction.

### MoDE-scratch

Success Rate: 17. Result ID: 6a140af9fbc373592c0b48fb.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"487","Total Parameters (M)":"487","Number of Demos":"1 Demo"}. This record does not assert independent reproduction.

### MoDE-scratch

Success Rate: 12.9. Result ID: 6a140af9fbc373592c0b48fc.

[Reporting paper](<https://www.sota2.com/research/paper/6a13d7676f71c5ae7dc9e788.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76361e209131cea6bdef.md>)

[Implementation](<https://mbreuss.github.io/MoDE_Diffusion_Policy/>)

Recorded evaluation configuration: {"Trainable Parameters (M)":"487","Total Parameters (M)":"487","Number of Demos":"5 Demos"}. This record does not assert independent reproduction.

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