We report the first results of the LISA Pathfinder in-flight experiment. The results demonstrate that two free-falling reference test masses, such as those needed for a space-based gravitational wave observatory like LISA, can be put in free fall with a relative acceleration noise with a square root of the power spectral density of $5.2\pm 0.1\mathrm{fm}{\mathrm{s}}^{-2}/\sqrt{\mathrm{Hz}}$, or $(0.54\pm 0.01)\times {10}^{-15}$g$/\sqrt{\mathrm{Hz}}$, with g the standard gravity, for frequencies between 0.7 and 20 mHz. This value is lower than the LISA Pathfinder requirement by more than a factor 5 and within a factor 1.25 of the requirement for the LISA mission, and is compatible with Brownian noise from viscous damping due to the residual gas surrounding the test masses. Above 60 mHz the acceleration noise is dominated by interferometer displacement readout noise at a level of $(34.8\pm 0.3)\mathrm{fm}/\sqrt{\mathrm{Hz}}$, about 2 orders of magnitude better than requirements. At $f\le 0.5\mathrm{mHz}$ we observe a low-frequency tail that stays below $12\mathrm{fm}{\mathrm{s}}^{-2}/\sqrt{\mathrm{Hz}}$ down to 0.1 mHz. This performance would allow for a space-based gravitational wave observatory with a sensitivity close to what was originally foreseen for LISA.

In the months since the publication of the first results, the noise performance of LISA Pathfinder has improved because of reduced Brownian noise due to the continued decrease in pressure around the test masses, from a better correction of noninertial effects, and from a better calibration of the electrostatic force actuation. In addition, the availability of numerous long noise measurement runs, during which no perturbation is purposely applied to the test masses, has allowed the measurement of noise with good statistics down to $20\mu \mathrm{Hz}$. The Letter presents the measured differential acceleration noise figure, which is at $(1.74\pm 0.05)\mathrm{fm}{\mathrm{s}}^{-2}/\sqrt{\mathrm{Hz}}$ above 2 mHz and $(6\pm 1)\times 10\mathrm{fm}{\mathrm{s}}^{-2}/\sqrt{\mathrm{Hz}}$ at $20\mu \mathrm{Hz}$, and discusses the physical sources for the measured noise. This performance provides an experimental benchmark demonstrating the ability to realize the low-frequency science potential of the LISA mission, recently selected by the European Space Agency.