Robot Manipulation Benchmarks

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OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics
Jul 7, 2026Humphrey MunnRobotics Simulation Robot Manipulation Benchmarks
School of EECS, The University of Queensland
GraspIT: A Dataset Bridging the Sim-to-Real gap and back for Validated Grasping SE(3) Pose Generation
Jul 7, 2026Paul Koch. Adem Karakurt, André SersRobotic Grasping Robotic Data Collection
Fraunhofer IPK Pascalstraße 8-9, 10587 Berlin, Germany
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Jul 5, 2026Tianxing Chen, Yue Chen, Zixuan Li +41Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects
Jul 5, 2026Bowen Jing, Mingxin Wang, Ruiyang Hao +15Tactile Sensing Robotics Simulation
Tuojing Intelligence · Tsinghua University · King’s College London +10
GigaWorld-1: A Roadmap to Build World Models for Robot Policy Evaluation
Jul 2, 2026GigaWorld Team, Angyuan Ma, Boyuan Wang +24Robot Foundation Models Action-Conditioned World Models
GigaAI · Tsinghua University
PhysMani: Physics-principled 3D World Model for Dynamic Object Manipulation
Jul 2, 2026Peng Yun, Shouwang Huang, Hao Li +3World Models for Robotics World Models
vLAR Group, The Hong Kong Polytechnic University, Hong Kong SAR, China · Astribot, China
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
Jun 30, 2026Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi +3Robotics Simulation Robot Safety
The University of Texas at Austin
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
Jun 30, 2026Xinyi Wang, Donghan Li, Zi'Ang Chen +5Bimanual Robotic Manipulation Robotic Data Collection
Fudan University · ByteDance Intelligent Creation · Shanghai AI Laboratory
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory
Jun 30, 2026Yuhan Wu, Zhao Jin, Tao Li +9Dexterous Manipulation Long-Horizon Robotic Manipulation
University of Science and Technology of China · 2Beijing Innovation Center of Humanoid Robotics
From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation
Jun 29, 2026Ying Yuan, Xinyu Liu, Sriram Krishna +1Robotic Grasping Dexterous Manipulation
Robotics Institute, Carnegie Mellon University
What Enables In-Context Behavior Prompting for Manipulation?
Jun 29, 2026Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1Robot Skill Learning Visuomotor Policy Learning
Stanford University · University of California, Berkeley
Position: Vision-Language-Action Models Cannot Be Verified to Perform Physical Reasoning
Jun 28, 2026Taozhao Chen, Ian Manchester, Huaming ChenVLM Evaluation Physical Reasoning
School of Electrical and Computer Engineering The University of Sydney Sydney, NSW, Australia · School of Aerospace, Mechanical and Mechatronic Engineering The University of Sydney Sydney, NSW, Australia
SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics
Jun 28, 2026Jiashuo Sun, Yue He, Wenxuan Liu +4Vision-Language-Action Models Robot Manipulation Benchmarks
the National Engineering Research Center of Robot Visual Perception and Control Technology, China · the School of Artificial Intelligence and Robotics, Hunan University, Hunan, China · the national graduate college for elite engineers, Hunan University, Hunan, China
Learning Motion Feasibility from Point Clouds in Cluttered Environments
Jun 25, 2026Sajid Ansari, Arthi, Girish Varma +1Robotic Grasping Point Cloud Learning
International Institute of Information Technology Hyderabad Hyderabad 500032, India.
WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation
Jun 24, 2026Baiqi Li, Ce Zhang, Yu Fang +4Long-Horizon Robotic Manipulation Language-Conditioned Robot Manipulation
University of North Carolina at Chapel Hill
World Value Models for Robotic Manipulation
Jun 23, 2026Zhihao Wang, Jianxiong Li, Yu Cui +4Robot Policy Learning World Models for Robotics
ByteDance Seed · Tsinghua University · Peking University
RE4: Transformation-aware Imitation of Object Interactions Using Manipulation Modes
Jun 23, 2026Arsh Chawla, Rahul ShomeImitation Learning Robotic Manipulation
Australian National University
Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
Jun 22, 2026Xinghao Zhu, Zixi Liu, Shalin Jain +17Contact-Rich Robotic Manipulation Robotic RL
NVIDIA
RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis
Jun 22, 2026Minh-Loi Nguyen, Nghiem Tuong Diep, Hung Khang Nguyen +10VLM Evaluation Robot Manipulation Benchmarks
Center for AI Research, VinUniversity · 2VinRobotics · 3DFKI +3
Benchmarking Robot Memory Under Interference
Jun 21, 2026Soumil RathiAgent Memory Memory Agent Benchmarks
Independent Researcher
R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
Jun 19, 2026Hanxin Zhang, Abdulqader Dhafer, Hongbiao Dong +1Robotic Grasping Robotics Simulation
DANiLab, University of Leicester, Leicester, UK · School of Computing and Mathematical Sciences, University of Leicester, Leicester, UK · School of Metallurgy and Materials, University of Birmingham, Birmingham, UK
Inductive Generalization for Robotic Manipulation
Jun 19, 2026Annabella Macaluso, Haochen Zhang, Ishaan Masilamony +2OOD Generalization Generalization in Robotic Manipulation
Carnegie Mellon University
EventVLA: Event-Driven Visual Evidence Memory for Long-Horizon Vision-Language-Action Policies
Jun 18, 2026Ganlin Yang, Zhangzheng Tu, Yuqiang Yang +10Long-Horizon Robotic Manipulation Vision-Language-Action Models
University of Science and Technology of China · Shanghai AI Laboratory · Dalian University of Technology +5
HT-Bench: Benchmarking and Learning Dexterous Full-Hand Tactile Representations with Egocentric Vision
Jun 17, 2026Yuzhe Huang, Jiaping Wu, Jiaming Jiang +6Representation Learning Visuo-Tactile Representation Learning
Beihang University · Rimbot · BUPT +3
A Scalable Embodied Intelligence Platform for Seamless Real-to-Sim-to-Real Transfer of Household Mobile Manipulation Tasks
Jun 17, 2026Kui Yang, Xianlei Long, Haoxuan Li +2Mobile Manipulation Robotics Simulation
School of Computer Science, Chongqing University, No. 55 Daxuecheng South Road, Shapingba District, Chongqing, 401331, Chongqing, China. · R&D Department, Lumos Robotics Technology (Suzhou) Co., Ltd, No. 17 345 Baodai East Road, Wuzhong District, Suzhou, 215128, Jiangsu, China.
WireCraft: A Simulation Benchmark for Industrial DLO Manipulation
Jun 16, 2026Chongyu Zhu, Ramy ElMallah, Hyegang Kim +5Robot Policy Learning Robotics Simulation
Department of Mechanical and Industrial Engineering, University of Toronto, Canada · Department of Computer Science, University of Toronto, Canada · CREFLE Inc., Seongnam, Republic of Korea
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Jun 16, 2026Taowen Wang, Zikang Xie, Bin Yang +13Humanoid Robot Control Hierarchical RL
The Hong Kong University of Science and Technology (Guangzhou) · Beijing University of Technology · Harbin Institute of Technology, Shenzhen +2
Abstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance
Jun 15, 2026Sam Collin, Ali AyubSelective Prediction Robot Task Planning
Concordia University, Montreal, Quebec H3G 1M8, Canada
ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies
Jun 15, 2026Zenan Wu, Bingqing Wei, Lu Liu +8Robot Skill Learning Language-Conditioned Robot Manipulation
1Beijing Academy of Artificial Intelligence · 2Peking University
Scaling Short-Term Memory of Visuomotor Policies for Long-Horizon Tasks
Jun 15, 2026Rutav Shah, Rajat Kumar Jenamani, Xiaohan Zhang +5Long-Horizon Robotic Manipulation Visuomotor Policy Learning
1Robotics and AI Institute, 2The University of Texas at Austin

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OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics

Humphrey Munn

School of EECS, The University of Queensland

Robotics Simulation Robot Manipulation Benchmarks Agricultural Robotics Physics-Based Simulation

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Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is available only weeks a year, every tree is different, and a control error can permanently damage the crop or the plant. The tree models used in graphics and agronomy are geometrically detailed but physically inert, while the GPU-parallel simulators used in robot learning contain no plausible trees. We present OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees on the Newton engine. Each tree is grown by a stochastic L-system and instantiated as a fully articulated body: branches are compliant torsional spring-dampers whose stiffness follows Euler-Bernoulli beam theory, they break at a wood modulus of rupture and fall as free hinges, and apples are independent bodies on stem tethers that detach at literature-grounded pull forces and load the branch when pulled. A moving, density-controllable foliage layer occludes the canopy as real leaves do. Every physical parameter is tied to a published source. Per-environment domain randomization makes each batched world a distinct tree, and a mobile manipulator with a wrist depth camera closes the loop with geometric fruit perception and an autonomous harvesting baseline. Careful engineering of the solver and the model lets OrchardBench run many parallel environments at interactive rates on a laptop GPU. We define the tasks and a metric suite spanning harvest completeness, throughput, and plant damage (with a per-canopy-zone breakdown), and report baseline results across foliage, fruit load, terrain, canopy zone, and parallelism. The analytic baseline succeeds on about 40% of the fruit it detects and harvests only about an eighth of the reachable fruit on a tree, leaving clear headroom for novel autonomy approaches.

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