mlsanityData to 7 Oct 2026

RLBench: The Robot Learning Benchmark & Learning Environment

arXiv 1909.12271 ↗First posted 26 Sep 2019cs.RO cs.AI cs.CVcited by 669

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Cited by 124 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present a challenging new benchmark and learning-environment for robot learning: RLBench. The benchmark features 100 completely unique, hand-designed tasks ranging in difficulty, from simple target reaching and door opening, to longer multi-stage tasks, such as opening an oven and placing a tray in it. We provide an array of both proprioceptive observations and visual observations, which include rgb, depth, and segmentation masks from an over-the-shoulder stereo camera and an eye-in-hand monocular camera. Uniquely, each task comes with an infinite supply of demos through the use of motion planners operating on a series of waypoints given during task creation time; enabling an exciting flurry of demonstration-based learning. RLBench has been designed with scalability in mind; new tasks, along with their motion-planned demos, can be easily created and then verified by a series of tools, allowing users to submit their own tasks to the RLBench task repository. This large-scale benchmark aims to accelerate progress in a number of vision-guided manipulation research areas, including: reinforcement learning, imitation learning, multi-task learning, geometric computer vision, and in particular, few-shot learning. With the benchmark's breadth of tasks and demonstrations, we propose the first large-scale few-shot challenge in robotics. We hope that the scale and diversity of RLBench offers unparalleled research opportunities in the robot learning community and beyond.

Key facts. Cited by 669 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Sep 2019.

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Citing papers per year: 2020: 1; 2021: 35; 2022: 39; 2023: 68; 2024: 127; 2025: 193; 2026: 206.

669 papers.

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  1. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  2. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  3. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  4. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 733
  5. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  6. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  7. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  8. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  9. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  10. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  11. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  12. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
38 more
  1. 20243D-VLA: A 3D Vision-Language-Action Generative World Modelcited by 320
  2. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  3. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  4. 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representationscited by 278
  5. 2025LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Modelscited by 278
  6. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  7. 2022Masked Visual Pre-training for Motor Controlcited by 246
  8. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  9. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 224
  10. 2024A Survey on 3D Gaussian Splattingcited by 221
  11. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  12. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  13. 2023RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulationcited by 206
  14. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  15. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 191
  16. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 176
  17. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 175
  18. 2023RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shotcited by 173
  19. 2024VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Taskscited by 171
  20. 2022Masked World Models for Visual Controlcited by 169
  21. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 168
  22. 2023RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunkingcited by 167
  23. 2025LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorizationcited by 166
  24. 2021A Survey of Zero-shot Generalisation in Deep Reinforcement Learningcited by 164
  25. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  26. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 142
  27. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  28. 2023Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulationcited by 135
  29. 2024RVT-2: Learning Precise Manipulation from Few Demonstrationscited by 135
  30. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  31. 2024Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goalscited by 131
  32. 2024Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generationcited by 129
  33. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 128
  34. 2025HAMSTER: Hierarchical Action Models For Open-World Robot Manipulationcited by 125
  35. 2021Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisationcited by 120
  36. 2023GenSim: Generating Robotic Simulation Tasks via Large Language Modelscited by 120
  37. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  38. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113

50 most cited of 669 All 669 (JSON)

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  2. 2026Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation ↗
  3. 2026On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning
  4. 2019Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance
  5. 2026RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation
  6. 2022How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-based Robotic Manipulation
  7. 2025Robot-R1: Reinforcement Learning for Enhanced Embodied Reasoning in Robotics
  8. 2023Train Offline, Test Online: A Real Robot Learning Benchmark