ALOHA
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Robot Manipulation | ALOHA simulator | HOB Success Rate95 | 7 | |
| Robotic Manipulation | Aloha-Simulation Gym-Aloha Average | Success Rate48.2 | 6 | |
| Robotic Manipulation | Aloha-Simulation Transfer Cube | Success Rate77.5 | 6 | |
| Robotic Manipulation | ALOHA | Reference Success Rate83.9 | 5 | |
| Bimanual Table-cleaning | ALOHA table-cleaning | Tape SR83.1 | 5 | |
| Factored Dec-POMDP Bound Estimation | Aloha h=3 | V^TP Estimate71.99 | 4 | |
| Robotic Manipulation | ALOHA Static | Complete Success Rate15 | 4 | |
| Robotic Manipulation | Real-world ALOHA OOD | Color Fidelity88.5 | 4 | |
| Robot Manipulation | ALOHA (in-domain) | Pick and Place Success Rate96.2 | 4 | |
| Robot Manipulation | ALOHA Real-world ToothBrush | SR (Pick)90 | 4 | |
| Robot Manipulation | ALOHA Real-world StoreDrawer | Success Rate (Pick)100 | 4 | |
| Robot Manipulation | ALOHA Real-world PickBall | Success Rate (Pick)75 | 4 | |
| Fold-Shorts | Aloha Real-world (evaluation) | Single Fold Success Rate80 | 4 | |
| Scoop | Aloha Real-world (evaluation) | Place Success Rate100 | 4 | |
| Cup-Handover | Aloha Real-world (evaluation) | Grasp Success Rate80 | 4 | |
| Unscrew Cap | ARX ALOHA | Grasp Bottle Success Score9 | 3 | |
| Put Blocks | ARX ALOHA | Open Drawer Success Rate50 | 3 | |
| Robotic Manipulation | Real ALOHA | Success Rate (Real ALOHA)0.8 | 3 | |
| Robot Manipulation | ALOHA Real-world (deployment) | Clear Tape Success35 | 3 | |
| Text Optimization | ALOHA | Average Runtime (s)14.88 | 3 | |
| Robot Manipulation | Aloha Dual-Arm Real-World Generalization (test) | Success Rate (Distractor)53.3 | 3 | |
| Bimanual manipulation | ALOHA | Env. Reward2.44 | 2 | |
| Multi-stage robot manipulation | ALOHA real-world platform | Pick Cup Success Rate60 | 2 | |
| Recycle Cans | Real-world ALOHA | Metric- | 0 | |
| Plate on Rack | ALOHA Real-world | Metric- | 0 |
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