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Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning.
Robocup: The robot world cup initiative
Hiroaki Kitano, Minoru Asada, Yasuo Kuniyoshi, Itsuki Noda, and Eiichi Osawa · 1997
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Toward a framework for levels of robot autonomy in human-robot interaction
Jenay M Beer, Arthur D Fisk, and Wendy A Rogers · 2014
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Benchmarking in manipulation research: The ycb object and model set and benchmarking protocols
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2015
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Bullet physics simulation
Erwin Coumans · 2015
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Analysis and observations from the first amazon picking challenge
Nikolaus Correll, Kostas E Bekris, Dmitry Berenson, Oliver Brock, Albert Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M Romano, and Peter R Wurman · 2016
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Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours
Lerrel Pinto and Abhinav Gupta · 2016
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Deep reinforcement learning for robotic manipulation with asynchronous off-policy updates
Shixiang Gu, Ethan Holly, Timothy Lillicrap, and Sergey Levine · 2017
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Ai2-thor: An interactive 3d environment for visual ai
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Matt Deitke, Kiana Ehsani, Daniel Gordon, Yuke Zhu, et al · 2017
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The acrv picking benchmark: A robotic shelf picking benchmark to foster reproducible research
Jürgen Leitner, Adam W Tow, Niko Sünderhauf, Jake E Dean, Joseph W Durham, Matthew Cooper, Markus Eich, Christopher Lehnert, Ruben Mangels, Christopher McCool, et al · 2017
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Duckietown: an open, inexpensive and flexible platform for autonomy education and research
Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cap, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, et al · 2017
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The robotarium: A remotely accessible swarm robotics research testbed
Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron Ames, Eric Feron, and Magnus Egerstedt · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Unity: A general platform for intelligent agents
Arthur Juliani · 2018
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The darpa robotics challenge finals: Results and perspectives
Eric Krotkov, Douglas Hackett, Larry Jackel, Michael Perschbacher, James Pippine, Jesse Strauss, Gill Pratt, and Christopher Orlowski · 2018
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Dart: Dynamic animation and robotics toolkit
Jeongseok Lee, Michael X. Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha S. Srinivasa, Mike Stilman, and C Karen Liu · 2018
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Yuval Tassa, Yotam Doron, Alistair Muldal, Tom Erez, Yazhe Li, Diego de Las Casas, David Budden, Abbas Abdolmaleki, Josh Merel, Andrew Lefrancq, et al · 2018
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Robotic grasping and manipulation competition: Future tasks to support the development of assembly robotics
Karl Van Wyk, Joe Falco, and Elena Messina · 2018
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Replab: A reproducible low-cost arm benchmark platform for robotic learning
Brian Yang, Jesse Zhang, Dinesh Jayaraman, and Sergey Levine · 2019
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Vr-goggles for robots: Real-to-sim domain adaptation for visual control
Jingwei Zhang, Lei Tai, Peng Yun, Yufeng Xiong, Ming Liu, Joschka Boedecker, and Wolfram Burgard · 2019
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Causalworld: A robotic manipulation benchmark for causal structure and transfer learning
Ossama Ahmed, Frederik Träuble, Anirudh Goyal, Alexander Neitz, Yoshua Bengio, Bernhard Schölkopf, Manuel Wüthrich, and Stefan Bauer · 2020
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Robothor: An open simulation-to-real embodied ai platform
Matt Deitke, Winson Han, Alvaro Herrasti, Aniruddha Kembhavi, Eric Kolve, Roozbeh Mottaghi, Jordi Salvador, Dustin Schwenk, Eli VanderBilt, Matthew Wallingford, et al · 2020
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Deep dynamics models for learning dexterous manipulation
Anusha Nagabandi, Kurt Konolige, Sergey Levine, and Vikash Kumar · 2020
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Physx, 2020
NVIDIA · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
Cited alongside, same era.
Batch exploration with examples for scalable robotic reinforcement learning
Annie S Chen, HyunJi Nam, Suraj Nair, and Chelsea Finn · 2021
Cited alongside, same era.
Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
Cited alongside, same era.
Mt-opt: Continuous multi-task robotic reinforcement learning at scale
Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, and Karol Hausman · 2021
Cited alongside, same era.
IKEA furniture assembly environment for long-horizon complex manipulation tasks
Homerobot: Open-vocabulary mobile manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, et al · 2023
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Train offline, test online: A real robot learning benchmark
Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama, Aravind Rajeswaran, Jyothish Pari, Kyle Hatch, Aryan Jain, Tianhe Yu, Pieter Abbeel, Lerrel Pinto, et al · 2023
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Autort: Embodied foundation models for large scale orchestration of robotic agents, 2024
Michael Ahn, Debidatta Dwibedi, Chelsea Finn, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Karol Hausman, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Sean Kirmani, Isabel Leal, Edward Lee, Sergey Levine, Yao Lu, Sharath Maddineni, Kanishka Rao, Dorsa Sadigh, Pannag Sanketi, Pierre Sermanet, Quan Vuong, Stefan Welker, Fei Xia, Ted Xiao, Peng Xu, Steve Xu, and Zhuo Xu · 2024
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Genesis: A universal and generative physics engine for robotics and beyond, December 2024
Genesis Authors · 2024
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Youngwoon Lee, Edward S Hu, and Joseph J Lim · 2021
Cited alongside, same era.
Softgym: Benchmarking deep reinforcement learning for deformable object manipulation
Xingyu Lin, Yufei Wang, Jake Olkin, and David Held · 2021
Cited alongside, same era.
Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
Cited alongside, same era.
Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
Cited alongside, same era.
Real robot challenge: A robotics competition in the cloud
Stefan Bauer, Manuel Wüthrich, Felix Widmaier, Annika Buchholz, Sebastian Stark, Anirudh Goyal, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vincent Berenz, et al · 2022
Cited alongside, same era.
Flingbot: The unreasonable effectiveness of dynamic manipulation for cloth unfolding
Huy Ha and Shuran Song · 2022
Cited alongside, same era.
6-dof pose estimation of household objects for robotic manipulation: An accessible dataset and benchmark
Stephen Tyree, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Jeffrey Smith, and Stan Birchfield · 2022
Cited alongside, same era.
Rohan Anil, Andrew M Dai, Orhan Firat, Melvin Johnson, Dmitry Lepikhin, Alexandre Passos, Siamak Shakeri, Emanuel Taropa, Paige Bailey, Zhifeng Chen, et al · 2023
Cited alongside, same era.
Suneel Belkhale and Dorsa Sadigh · 2024
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Paligemma: A versatile 3b vlm for transfer
Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, et al · 2024
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π 0 \pi_{0} : A vision-language-action flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
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Achieving human level competitive robot table tennis
David B D’Ambrosio, Saminda Abeyruwan, Laura Graesser, Atil Iscen, Heni Ben Amor, Alex Bewley, Barney J Reed, Krista Reymann, Leila Takayama, Yuval Tassa, et al · 2024
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Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
Ria Doshi, Homer Walke, Oier Mees, Sudeep Dasari, and Sergey Levine · 2024
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In-context imitation learning via next-token prediction
Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, and Ken Goldberg · 2024
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Nomad: Goal masked diffusion policies for navigation and exploration
Ajay Sridhar, Dhruv Shah, Catherine Glossop, and Sergey Levine · 2024
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Maniskill3: Gpu parallelized robotics simulation and rendering for generalizable embodied ai
Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-kai Chan, et al · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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Pushing the limits of cross-embodiment learning for manipulation and navigation
Jonathan Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, and Sergey Levine · 2024
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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, et al · 2024
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Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Autonomous improvement of instruction following skills via foundation models
Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Walke, Oier Mees, and Sergey Levine · 2024
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The Earth Rover Challenge, 2025
Earth Rover Challenge Team · 2025
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A taxonomy for evaluating generalist robot policies
Jensen Gao, Suneel Belkhale, Sudeep Dasari, Ashwin Balakrishna, Dhruv Shah, and Dorsa Sadigh · 2025
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Fast: Efficient action tokenization for vision-language-action models
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Open-pi-zero: An open-source hardware project
Allen Z. Ren · 2025
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