mlsanityData to 7 Oct 2026

ROBEL: Robotics Benchmarks for Learning with Low-Cost Robots

arXiv 1909.11639 ↗First posted 25 Sep 2019cs.RO cs.LG stat.MLcited by 70

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Abstract (arXiv)

ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, and D'Kitty is a four-legged robot that facilitates learning agile legged locomotion tasks. These low-cost, modular robots are easy to maintain and are robust enough to sustain on-hardware reinforcement learning from scratch with over 14000 training hours registered on them to date. To leverage this platform, we propose an extensible set of continuous control benchmark tasks for each robot. These tasks feature dense and sparse task objectives, and additionally introduce score metrics as hardware-safety. We provide benchmark scores on an initial set of tasks using a variety of learning-based methods. Furthermore, we show that these results can be replicated across copies of the robots located in different institutions. Code, documentation, design files, detailed assembly instructions, final policies, baseline details, task videos, and all supplementary materials required to reproduce the results are available at www.roboticsbenchmarks.org.

Key facts. Cited by 70 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Sep 2019.

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Citing papers per year: 2020: 1; 2021: 9; 2022: 16; 2023: 13; 2024: 15; 2025: 10; 2026: 6.

70 papers.

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  1. 2021RvS: What is Essential for Offline RL via Supervised Learning?cited by 184
  2. 2022The Unsurprising Effectiveness of Pre-Trained Vision Models for Controlcited by 155
  3. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  4. 2024SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learningcited by 113
  5. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  6. 2022Design-Bench: Benchmarks for Data-Driven Offline Model-Based Optimizationcited by 96
  7. 2020Offline Reinforcement Learning from Images with Latent Space Modelscited by 94
  8. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 92
  9. 2021Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Interventioncited by 90
  10. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  11. 2021Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapescited by 70
  12. 2022How Far I'll Go: Offline Goal-Conditioned Reinforcement Learning via f-Advantage Regressioncited by 65
38 more
  1. 2021Visual Adversarial Imitation Learning using Variational Modelscited by 42
  2. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  3. 2022Generative Pretraining for Black-Box Optimizationcited by 36
  4. 2021Mismatched No More: Joint Model-Policy Optimization for Model-Based RLcited by 35
  5. 2025PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policiescited by 29
  6. 2021Unsupervised Skill Discovery with Bottleneck Option Learningcited by 28
  7. 2022Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Graspscited by 27
  8. 2023MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulationcited by 27
  9. 2023A Control-Centric Benchmark for Video Predictioncited by 25
  10. 2023Benchmarking Offline Reinforcement Learning on Real-Robot Hardwarecited by 23
  11. 2023ExPT: Synthetic Pretraining for Few-Shot Experimental Designcited by 22
  12. 2023Seizing Serendipity: Exploiting the Value of Past Success in Off-Policy Actor-Criticcited by 20
  13. 2024ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularizationcited by 16
  14. 2022When to Update Your Model: Constrained Model-based Reinforcement Learningcited by 14
  15. 2025Offline Model-Based Optimization: Comprehensive Reviewcited by 14
  16. 2024Offline Model-Based Optimization by Learning to Rankcited by 13
  17. 2024Generative Adversarial Model-Based Optimization via Source Critic Regularizationcited by 10
  18. 2024Design Editing for Offline Model-based Optimizationcited by 10
  19. 2023A Unified View on Solving Objective Mismatch in Model-Based Reinforcement Learningcited by 9
  20. 2021Measuring Progress in Deep Reinforcement Learning Sample Efficiencycited by 8
  21. 2024Robust Guided Diffusion for Offline Black-Box Optimizationcited by 8
  22. 2024Scalable Bayesian Optimization via Focalized Sparse Gaussian Processescited by 8
  23. 2022All the Feels: A dexterous hand with large-area tactile sensingcited by 7
  24. 2022Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Researchcited by 6
  25. 2025Boosting Offline Optimizers with Surrogate Sensitivitycited by 6
  26. 2025Towards Universal Offline Black-Box Optimization via Learning Language Model Embeddingscited by 6
  27. 2022Time-Varying Propensity Score to Bridge the Gap between the Past and Presentcited by 5
  28. 2022RMBench: Benchmarking Deep Reinforcement Learning for Robotic Manipulator Controlcited by 5
  29. 2023TactoFind: A Tactile Only System for Object Retrievalcited by 5
  30. 2023Robotic Manipulation Datasets for Offline Compositional Reinforcement Learningcited by 5
  31. 2025Incorporating Surrogate Gradient Norm to Improve Offline Optimization Techniquescited by 5
  32. 2023Bi-Manual Block Assembly via Sim-to-Real Reinforcement Learningcited by 4
  33. 2025ROOT: Rethinking Offline Optimization as Distributional Translation via Probabilistic Bridgecited by 4
  34. 2024Image-Based Deep Reinforcement Learning with Intrinsically Motivated Stimuli: On the Execution of Complex Robotic Taskscited by 3
  35. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 3
  36. 2021Adaptive t-Momentum-based Optimization for Unknown Ratio of Outliers in Amateur Data in Imitation Learningcited by 2
  37. 2022Review of Metrics to Measure the Stability, Robustness and Resilience of Reinforcement Learningcited by 2
  38. 2022Randomized-to-Canonical Model Predictive Control for Real-world Visual Robotic Manipulationcited by 2

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