# Robot Manipulation on Real-world Tasks Franka (test)

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

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

Data updated: 2026-03-19T08:47:21.865Z

Evaluation of robot manipulation performance on the Real-world Tasks Franka platform (test split), focusing on success rates for specific actions such as Pick Grape, Stack Bowls, and Push Buttons.

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) | Real-world Tasks Franka (test) |
| Metric | Average Success Rate (%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| 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 (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Average%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

- [Pick Grape Success Rate (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Pick%20Grape%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

- [Stack Bowls Success Rate (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Stack%20Bowls%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

- [Push Buttons Success Rate (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Push%20Buttons%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

- [Collect Fruits Success Rate (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Collect%20Fruits%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

- [Put Item In Drawer Success Rate (%)](<https://www.sota2.com/research/sota/robot-manipulation-on-real-world-tasks-franka-test.md?metric=Put%20Item%20In%20Drawer%20Success%20Rate%20(%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Average Success Rate (%) | Result date | Report paper |
| --- | --- | --- | --- |
| TVVE | 78 | Not recorded | 68fa7c691e209131cea8dece |
| ARP | 72 | Not recorded | 68fa7c691e209131cea8dece |
| Diffusion Policy | 58 | Not recorded | 68fa7c691e209131cea8dece |

### TVVE

Average Success Rate (%): 78. Result ID: 69bbb81647f34ce924a5a4bf.

[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 (%): 72. Result ID: 69bbb81647f34ce924a5a4be.

[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.

### Diffusion Policy

Average Success Rate (%): 58. Result ID: 69bbb81647f34ce924a5a4bd.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa72841e209131cea56f68.md>)

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

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