RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
- Published
- Source
- arXiv
- Paper number
- 564
- Field
- Robotics
- arXiv ID
- 2607.04434
Key points
- It evaluates five capability dimensions, namely generalization, memory, precision, long-horizon execution, and open-ended instruction, across 42 simulation tasks and 18 real-world tasks.
- It greatly improves evaluation throughput through heterogeneous parallel simulation based on Isaac Sim.
- RoboDojo-RealEval provides a reproducible real-world evaluation system with standardized hardware, scene resets, and evaluation protocols.
- It builds a public leaderboard by integrating 30 policies into XPolicyLab and performing cross-evaluation in simulation and in the real world.
- Stability is confirmed by maximum GPU-to-GPU standard deviation of 1.1 percentage points in simulation and a maximum repeat-evaluation standard deviation of 1.3 percentage points in the real world.
Paper links
External research summaries. These are not HDATF publications or measured product results.