SpatialBench evaluates 41 spatial foundation models across 6 paradigms and 5 task suites, finds they are not all-round players, and introduces the DA-Next-5M dataset plus DA-Next baseline model.
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RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
Baseline reference. 51% of citing Pith papers use this work as a benchmark or comparison.
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Baseline
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abstract
Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation methods and (2) oversimplified simulation environments. We present RoboTwin 2.0, a scalable framework for automated, large-scale generation of diverse and realistic data, together with unified evaluation protocols for dual-arm manipulation. At its core is RoboTwin-OD, an object library of 731 instances across 147 categories with semantic and manipulation-relevant annotations. Building on this, we design an expert data synthesis pipeline that leverages multimodal language models (MLLMs) and simulation-in-the-loop refinement to automatically generate task-level execution code. To improve sim-to-real transfer, RoboTwin 2.0 applies structured domain randomization along five axes: clutter, lighting, background, tabletop height, and language, enhancing data diversity and policy robustness. The framework is instantiated across 50 dual-arm tasks and five robot embodiments. Empirically, it yields a 10.9% gain in code generation success rate. For downstream policy learning, a VLA model trained with synthetic data plus only 10 real demonstrations achieves a 367% relative improvement over the 10-demo baseline, while zero-shot models trained solely on synthetic data obtain a 228% gain. These results highlight the effectiveness of RoboTwin 2.0 in strengthening sim-to-real transfer and robustness to environmental variations. We release the data generator, benchmark, dataset, and code to support scalable research in robust bimanual manipulation. Project Page: https://robotwin-platform.github.io/, Code: https://github.com/robotwin-Platform/robotwin/.
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- abstract Simulation-based data synthesis has emerged as a powerful paradigm for advancing real-world robotic manipulation. Yet existing datasets remain insufficient for robust bimanual manipulation due to (1) the lack of scalable task generation methods and (2) oversimplified simulation environments. We present RoboTwin 2.0, a scalable framework for automated, large-scale generation of diverse and realistic data, together with unified evaluation protocols for dual-arm manipulation. At its core is RoboTwin-OD, an object library of 731 instances across 147 categories with semantic and manipulation-releva
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representative citing papers
Labimus is the first benchmark for humanoid dexterous manipulation in organic chemistry laboratories, exposing a gap between task completion and required experimental precision.
ForesightSafety-VLA creates a diagnostic benchmark for VLA safety with taxonomy across physical, language, and visual risks, showing perception and structure variations cause more safety degradation than language changes in tested models.
LIBERO-Safety supplies a scalable benchmark, data-generation pipeline, and 19,664-demonstration dataset that exposes a generalization-safety tension in current VLA models where diverse training improves collision avoidance but task success stays limited by trajectory quality and semantic understandi
EBench is a benchmark that evaluates generalist mobile manipulation policies on 26 tasks across 5 capability and 4 generalization dimensions, revealing distinct capability profiles among models with similar success rates.
ThinkingVLA is a Mixture-of-Transformers VLA model that performs interleaved forward CoT for subgoal and image prediction followed by inverse CoT grounded on the predicted image to generate actions.
LeaP introduces a learnable proprioception-conditioned diagonal Gaussian source prior for generative robot policies, raising average success rates on 15 RoboTwin tasks from baselines by 6.5-25.5 points.
DuoBench introduces eleven bimanual manipulation tasks with stage-based evaluation and human datasets to benchmark imitation-learning and vision-language-action policies on dual-arm robots in sim and real settings.
X-Tokenizer creates semantic action tokens via asymmetric residual quantization and contrastive pretraining on large trajectory data, outperforming prior methods like FAST on robotic tasks.
Q-VGM introduces value-gradient matching via VGG-Flow to improve flow-matching VLA policies with a Cal-QL critic, achieving success rate lifts on LIBERO, RoboTwin, and real-robot tasks.
ManiSoft is a new benchmark featuring a soft-body simulator, four deformable control tasks, and an automated pipeline generating 6300 scenes with expert trajectories for training and evaluating vision-language policies on continuum robots.
DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
CreFlow combines LTL compositional rewards with credit-aware NFT and corrective reflow losses in online RL to improve embodied video diffusion models, raising downstream task success by 23.8 percentage points on eight bimanual manipulation tasks.
RotVLA models latent actions as continuous SO(n) rotations with triplet-frame supervision and flow-matching to reach 98.2% success on LIBERO and 89.6%/88.5% on RoboTwin2.0 using a 1.7B-parameter model.
MoLA infers a mixture of latent actions from generated future videos via modality-aware inverse dynamics models to improve robot manipulation policies.
GridS is a plug-and-play differentiable module for geometry-aware visual token resampling in VLA models that achieves under 10% token retention and 76% FLOPs reduction with no success-rate loss.
RIO introduces a lightweight open-source framework that abstracts real-time robot I/O to support easy switching between embodiments and platforms for collecting data and deploying VLAs.
Capability vectors extracted from parameter differences between standard and auxiliary-finetuned VLA models can be merged into pretrained weights to match auxiliary-training performance while reducing computational overhead during adaptation.
VEGA improves spatial reasoning in VLA models for robotics by aligning visual encoder features with 3D-supervised DINOv2 representations via a temporary projector and cosine similarity loss.
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
HDP3 is a pocket-scale 3D diffusion policy with a Diffusion Mixer decoder that achieves state-of-the-art visuomotor control using two-step DDIM inference and under 1% of the parameters of prior 3D diffusion policies.
VUDA enables spatial sharing between CUDA and Vulkan on GPUs via channel redirection and page-table grafting, achieving up to 85% higher throughput than temporal baselines in embodied AI tasks.
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
HiPolicy is a new hierarchical multi-frequency action chunking method for imitation learning that jointly generates coarse and fine action sequences with entropy-guided execution to improve performance and efficiency in robotic manipulation.
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World Models for Robotic Manipulation: A Survey
Survey organizing world models for robotic manipulation into representation families, a functional taxonomy, and infrastructure roles across pretraining, post-training, and inference, while reviewing 34 datasets and evaluation protocols.
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vla-eval: A Unified Evaluation Harness for Vision-Language-Action Models
vla-eval decouples VLA model inference from benchmark execution via WebSocket and Docker, supporting 14 benchmarks with up to 47x speedup and reproducing published scores across six codebases.
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A Survey of Reinforcement Learning for Large Reasoning Models
A survey compiling RL methods, challenges, data resources, and applications for enhancing reasoning in large language models and large reasoning models since DeepSeek-R1.