Franka Panda
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Robot Manipulation | Franka Panda (Unseen Tasks) | Success Rate80 | 10 | |
| Robot Manipulation | Franka Panda Seen Tasks | Success Rate88 | 10 | |
| Arm Pushing Task | Franka Panda arm block pushing simulation | Mean End Distance Error (mm)4.48 | 7 | |
| Box pushing | Franka Panda Box pushing Real Robot Real-world (test) | Success Rate76.2 | 5 | |
| Robot Manipulation | Franka Panda Real Robot (test) | T1 Success Ratio0.4667 | 5 | |
| Average | Franka Panda Real-world 1.0 | SSR91.5 | 4 | |
| Press Twice | Real-world Franka Panda 1.0 | SSR100 | 4 | |
| Triangle Swap | Franka Panda real-world 1.0 | SSR78.4 | 4 | |
| Line Swap | Real-world Franka Panda 1.0 | SSR95 | 4 | |
| Find Blue Block | Franka Panda real-world 1.0 | Success Rate (SSR)92.5 | 4 | |
| Robotic Pick and Place | Franka Panda Sim Pick and place a can in cluttered environment | Success Rate76 | 3 | |
| Ball-on-plate MPC | Franka Panda Ball-on-plate MPC Real Robot (test) | Goals Achieved (15s)13.6 | 3 | |
| Behavior-cloned flip | Franka Panda Behavior-cloned flip Real Robot Real-world (test) | Success Rate72 | 3 | |
| Motion Planning | 7-DoF Manipulator (Franka Panda) Random Environment | Success Rate96.8 | 3 | |
| Robotic Trajectory Tracking | Franka Panda Average Performance 20 Episodes (Representative Seed 51) | MAE44.59 | 2 | |
| Robotic Trajectory Tracking | Franka Panda Mixed Disturbances 20 Episodes (Representative Seed 51) | MAE82.37 | 2 | |
| Robotic Trajectory Tracking | Franka Panda Parameter Uncertainty 20 Episodes (Representative Seed 51) | MAE29.01 | 2 | |
| Robotic Trajectory Tracking | Franka Panda Payload Variation 20 Episodes (Representative Seed 51) | MAE61.68 | 2 | |
| Robotic Trajectory Tracking | Franka Panda Random Force 20 Episodes (Representative Seed 51) | MAE25.01 | 2 | |
| Robotic Trajectory Tracking | Franka Panda No Disturbance 20 Episodes (Representative Seed 51) | MAE6.26 | 2 | |
| Robot Control | Franka Panda 9-DOF | MAE (°)6.26 | 2 | |
| Pick Bread | Franka Panda Real-world (test) | Success Rate90 | 2 | |
| Pick Banana | Franka Panda Real-world (test) | Success Rate93.3 | 2 | |
| Ball-on-plate MPC | Franka Panda Ball-on-plate MPC, Ideal Simulation | Goals per 15s15.9 | 1 | |
| Behavior-cloned flip | Franka Panda Behavior-cloned flip Ideal Simulation | Success Rate73.5 | 1 |
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