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RoboHive: A Unified Framework for Robot Learning

arXiv 2310.06828 ↗First posted 10 Oct 2023cs.ROcited by 42

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Abstract (arXiv)

We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments, including dexterous manipulation with the Shadow Hand, whole-arm manipulation tasks with Franka and Fetch robots, quadruped locomotion, among others. Included environments are organized within and cover multiple domains such as hand manipulation, locomotion, multi-task, multi-agent, muscles, etc. In comparison to prior works, RoboHive offers a streamlined and unified task interface taking dependency on only a minimal set of well-maintained packages, features tasks with high physics fidelity and rich visual diversity, and supports common hardware drivers for real-world deployment. The unified interface of RoboHive offers a convenient and accessible abstraction for algorithmic research in imitation, reinforcement, multi-task, and hierarchical learning. Furthermore, RoboHive includes expert demonstrations and baseline results for most environments, providing a standard for benchmarking and comparisons. Details: https://sites.google.com/view/robohive

Key facts. Cited by 42 papers in the map (data through 14 Oct 2026). First posted on arXiv 10 Oct 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 12; 2025: 13; 2026: 17.

42 papers.

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  1. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  2. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 691
  3. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 279
  4. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 181
  5. 2025Embodied AI Agents: Modeling the Worldcited by 61
  6. 2024RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulatorcited by 53
  7. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 49
  8. 2024VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulationcited by 46
  9. 2026Hierarchical Planning with Latent World Modelscited by 43
  10. 2024Diffusion Transformer Policycited by 41
  11. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  12. 2025MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulationcited by 23
30 more
  1. 2025Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspectivecited by 20
  2. 2026stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluationcited by 20
  3. 2024Pre-trained Text-to-Image Diffusion Models Are Versatile Representation Learners for Controlcited by 11
  4. 2024Active Fine-Tuning of Multi-Task Policiescited by 9
  5. 2026Learning to Act Robustly with View-Invariant Latent Actionscited by 8
  6. 2026LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoningcited by 8
  7. 2024Embodied Neuromorphic Artificial Intelligence for Robotics: Perspectives, Challenges, and Research Development Stackcited by 7
  8. 2025Survey of Vision-Language-Action Models for Embodied Manipulationcited by 7
  9. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 6
  10. 2025Space Robotics Bench: Robot Learning Beyond Earthcited by 4
  11. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environmentscited by 3
  12. 2026DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stackcited by 3
  13. 2024Model-free reinforcement learning with noisy actions for automated experimental control in opticscited by 2
  14. 2026DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real Worldcited by 2
  15. 2024Towards Natural Language-Driven Assembly Using Foundation Modelscited by 1
  16. 2025Few-Shot Test-Time Optimization Without Retraining for Semiconductor Recipe Generation and Beyondcited by 1
  17. 2025Improving Low-Cost Teleoperation: Augmenting GELLO with Forcecited by 1
  18. 2025ActionSink: Toward Precise Robot Manipulation with Dynamic Integration of Action Flowcited by 1
  19. 2025Small transformer architectures for task switchingcited by 1
  20. 2025Dynamic Object Masks as Goal Representations for Visual Goal-Conditioned Reinforcement Learningcited by 1
  21. 2026RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learningcited by 1
  22. 2026TBD-VLA: Temporal Block Diffusion Vision Language Action Modelcited by 1
  23. 2026The Embodiment Gap in Robot Foundation Modelscited by 1
  24. 2026InternW0-Δ: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Datacited by 1
  25. 2026CABTO: Context-Aware Behavior Tree Grounding for Robot Manipulationcited by 0
  26. 2026Scalable Trajectory Generation for Whole-Body Mobile Manipulationcited by 0
  27. 2026DexHoldem: Playing Texas Hold'em with Dexterous Embodied Systemcited by 0
  28. 2026TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulationcited by 0
  29. 2026The Neverwhere Visual Parkour Benchmark Suitecited by 0
  30. 2026Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligencecited by 0