mlsanityData to 7 Oct 2026

FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning

arXiv 2401.08553 ↗First posted 16 Jan 2024cs.ROcited by 79

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Cited by 29 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally relevant ways. The core design principles of our Functional Manipulation Benchmark (FMB) emphasize a harmonious balance between complexity and accessibility. Tasks are deliberately scoped to be narrow, ensuring that models and datasets of manageable scale can be utilized effectively to track progress. Simultaneously, they are diverse enough to pose a significant generalization challenge. Furthermore, the benchmark is designed to be easily replicable, encompassing all essential hardware and software components. To achieve this goal, FMB consists of a variety of 3D-printed objects designed for easy and accurate replication by other researchers. The objects are procedurally generated, providing a principled framework to study generalization in a controlled fashion. We focus on fundamental manipulation skills, including grasping, repositioning, and a range of assembly behaviors. The FMB can be used to evaluate methods for acquiring individual skills, as well as methods for combining and ordering such skills to solve complex, multi-stage manipulation tasks. We also offer an imitation learning framework that includes a suite of policies trained to solve the proposed tasks. This enables researchers to utilize our tasks as a versatile toolkit for examining various parts of the pipeline. For example, researchers could propose a better design for a grasping controller and evaluate it in combination with our baseline reorientation and assembly policies as part of a pipeline for solving multi-stage tasks. Our dataset, object CAD files, code, and evaluation videos can be found on our project website: https://functional-manipulation-benchmark.github.io

Key facts. Cited by 79 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Jan 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 15; 2025: 31; 2026: 33.

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  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  2. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  3. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  4. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  5. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  6. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  7. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 176
  8. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  9. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 128
  10. 2025Unified Vision-Language-Action Modelcited by 128
  11. 2024SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learningcited by 113
  12. 2025Improving Vision-Language-Action Model with Online Reinforcement Learningcited by 107
38 more
  1. 2024IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AIcited by 68
  2. 2025A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learningcited by 66
  3. 2024Prediction with Action: Visual Policy Learning via Joint Denoising Processcited by 64
  4. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 63
  5. 2024Efficient Online Reinforcement Learning Fine-Tuning Need Not Retain Offline Datacited by 58
  6. 2025villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Modelscited by 58
  7. 2024A Survey on Robotics with Foundation Models: toward Embodied AIcited by 53
  8. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  9. 2024RLDG: Robotic Generalist Policy Distillation via Reinforcement Learningcited by 42
  10. 2025Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulationcited by 40
  11. 2025Fast-in-Slow: A Dual-System Foundation Model Unifying Fast Manipulation within Slow Reasoningcited by 28
  12. 2025MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulationcited by 22
  13. 2025Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulationcited by 22
  14. 2026LAP: Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfercited by 17
  15. 2025XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representationscited by 15
  16. 2025Reliable and Scalable Robot Policy Evaluation with Imperfect Simulatorscited by 13
  17. 2025ManualVLA: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulationcited by 13
  18. 2025TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Modelscited by 10
  19. 2025HiMoE-VLA: Hierarchical Mixture-of-Experts for Generalist Vision-Language-Action Policiescited by 10
  20. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  21. 2026MMaDA-VLA: Large Diffusion Vision-Language-Action Model with Unified Multi-Modal Instruction and Generationcited by 10
  22. 2024WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-makingcited by 9
  23. 2024RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarioscited by 7
  24. 2024ClevrSkills: Compositional Language and Visual Reasoning in Roboticscited by 7
  25. 2025Survey of Vision-Language-Action Models for Embodied Manipulationcited by 7
  26. 2025LatBot: Distilling Universal Latent Actions for Vision-Language-Action Modelscited by 7
  27. 2026NovaPlan: Zero-Shot Long-Horizon Manipulation via Closed-Loop Video Language Planningcited by 7
  28. 2026LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoningcited by 7
  29. 2026RotVLA: Rotational Latent Action for Vision-Language-Action Modelcited by 7
  30. 20253DAxisPrompt: Promoting the 3D Grounding and Reasoning in GPT-4ocited by 6
  31. 2026Learning Additively Compositional Latent Actions for Embodied AIcited by 6
  32. 2025Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision-Language Modelscited by 5
  33. 2026Efficient Long-Horizon Vision-Language-Action Models via Static-Dynamic Disentanglementcited by 5
  34. 2025See Once, Then Act: Vision-Language-Action Model with Task Learning from One-Shot Video Demonstrationscited by 4
  35. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  36. 2026When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learningcited by 3
  37. 2026LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratoriescited by 3
  38. 2025CLAD: Constrained Latent Action Diffusion for Vision-Language Procedure Planningcited by 2

50 most cited of 79 All 79 (JSON)

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  1. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  2. 2026ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
  3. 2026ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
  4. 2023Jigsaw-based Benchmarking for Learning Robotic Manipulation ↗
  5. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  6. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
  7. 2025A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
  8. 2026CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations ↗