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Real Robot

Benchmarks

Task NameDataset NameSOTA ResultTrend
Block StackingReal-robot Franka Emika Panda (real-world)
Success Rate90
11
Part-Assembly manipulationReal-Robot Part-Assembly
Success Rate85
8
Shelf-Insert manipulationReal-Robot Shelf-Insert
Success Rate79
8
Lid-Open manipulationReal-Robot Lid-Open
Success Rate84
8
Drawer-Cycle manipulationReal-Robot Drawer-Cycle
Success Rate91
8
Table-Bussy manipulationReal-Robot Table-Bussy
Success Rate86
8
Layout ConsistencyReal robot
Rotation Error (deg)5.941
8
Real-robot ManipulationReal-robot Seen tasks
Stack Bowl Success Rate80
6
Video GenerationReal Robot Flexiv Rizon 4S (test)
PSNR25.95
5
Vision-Language NavigationReal-robot Overall (test)
Navigation Error (NE)2.4
5
Vision-Language NavigationReal-robot Office-Hall (test)
Navigation Error (NE)2.68
5
Vision-Language NavigationReal-robot Office (test)
Navigation Error (NE)2.36
5
Vision-Language NavigationReal-robot Hall (test)
Navigation Error (NE)2.23
5
Real-robot ManipulationReal-robot Novel tasks OOD
Place Block Success Rate50
5
Close candle lidReal Robot Franka Emika Panda (Real-world evaluation)
Success Rate7
4
Stack thin blockReal Robot Franka Emika Panda (Real-world evaluation)
Success Rate90
4
Press CReal Robot Franka Emika Panda (Real-world evaluation)
Success Rate8
4
Press Enter KeyReal Robot Franka Emika Panda (Real-world evaluation)
Success Rate100
4
Dexterous ManipulationReal Robot Peg Insertion
Stage 1 Success Rate97.14
4
Dexterous ManipulationReal Robot Gear Mesh
Stage 1 Success Rate97.14
4
Robot ManipulationReal-robot
T1 Score94
4
Robot ManipulationReal-Robot General Manipulation Tasks
Insert Circle Success Rate87
4
Robot ManipulationReal-Robot Long-horizon memory-dependent tasks
Push Buttons Success58
4
Robust ManipulationReal Robot Robust Suite
Success Rate61.7
4
Precise Placement and ArrangementReal Robot Spatial Suite
Success Rate78.3
4
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