mlsanityData to 14 Oct 2026

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)

arXiv 2409.02920 ↗First posted 4 Sep 2024cs.RO cs.AI cs.CLcited by 69

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Cited by 22 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and real-world-aligned evaluation benchmarks severely limits such development. To address this, we introduce RoboTwin, a generative digital twin framework that uses 3D generative foundation models and large language models to produce diverse expert datasets and provide a real-world-aligned evaluation platform for dual-arm robotic tasks. Specifically, RoboTwin creates varied digital twins of objects from single 2D images, generating realistic and interactive scenarios. It also introduces a spatial relation-aware code generation framework that combines object annotations with large language models to break down tasks, determine spatial constraints, and generate precise robotic movement code. Our framework offers a comprehensive benchmark with both simulated and real-world data, enabling standardized evaluation and better alignment between simulated training and real-world performance. We validated our approach using the open-source COBOT Magic Robot platform. Policies pre-trained on RoboTwin-generated data and fine-tuned with limited real-world samples improve the success rate of over 70% for single-arm tasks and over 40% for dual-arm tasks compared to models trained solely on real-world data. This significant improvement demonstrates RoboTwin's potential to enhance the development and evaluation of dual-arm robotic manipulation systems. Project Page: https://robotwin-benchmark.github.io/early-version/.

Key facts. Cited by 69 papers in the map (data through 14 Oct 2026). Builds on 54 of its 69 references that are in the map. First posted on arXiv 4 Sep 2024.

Builds on

54 of 69 references.

References · 54

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38 more
  1. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  2. 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 584
  3. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learningcited by 523
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50 most cited of 54 All 54 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 3; 2025: 42; 2026: 24.

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  1. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 213
  2. 2025SimpleVLA-RL: Scaling VLA Training via Reinforcement Learningcited by 151
  3. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 121
  4. 2025PointVLA: Injecting the 3D World into Vision-Language-Action Modelscited by 105
  5. 2025ManiFlow: A General Robot Manipulation Policy via Consistency Flow Trainingcited by 49
  6. 2026Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodimentscited by 44
  7. 2025ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Modelscited by 43
  8. 2025CoMo: Learning Continuous Latent Motion from Internet Videos for Scalable Robot Learningcited by 40
  9. 2024G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulationcited by 35
  10. 2025RoboFactory: Exploring Embodied Agent Collaboration with Compositional Constraintscited by 31
  11. 2025VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Modelscited by 31
  12. 2026RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalizationcited by 30
38 more
  1. 2024EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agentscited by 24
  2. 2025AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulationcited by 23
  3. 2025AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulationcited by 23
  4. 2025ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesiscited by 22
  5. 2025Is Diversity All You Need for Scalable Robotic Manipulation?cited by 20
  6. 2025CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-Worldcited by 18
  7. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 18
  8. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  9. 2025H3DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learningcited by 16
  10. 2026Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policiescited by 15
  11. 2025OptiScene: LLM-driven Indoor Scene Layout Generation via Scaled Human-aligned Data Synthesis and Multi-Stage Preference Optimizationcited by 14
  12. 2025Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Frameworkcited by 12
  13. 2025EMMA: Generalizing Real-World Robot Manipulation via Generative Visual Transfercited by 12
  14. 2025MM-ACT: Learn from Multimodal Parallel Generation to Actcited by 12
  15. 2025SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulationcited by 9
  16. 2025SEM: Enhancing Spatial Understanding for Robust Robot Manipulationcited by 8
  17. 2025Benchmarking Generalizable Bimanual Manipulation: RoboTwin Dual-Arm Collaboration Challenge at CVPR 2025 MEIS Workshopcited by 8
  18. 2025Modality-Composable Diffusion Policy via Inference-Time Distribution-level Compositioncited by 7
  19. 2025VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulationcited by 7
  20. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 6
  21. 2025BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assemblycited by 5
  22. 2025SimLauncher: Launching Sample-Efficient Real-world Robotic Reinforcement Learning via Simulation Pre-trainingcited by 5
  23. 2026Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarkscited by 5
  24. 2026ManiTwin: Scaling Data-Generation-Ready Digital Object Dataset to 100Kcited by 5
  25. 2024ManiBox: Enhancing Embodied Spatial Generalization via Scalable Simulation Data Generationscited by 4
  26. 2025FieldGen: From Teleoperated Pre-Manipulation Trajectories to Field-Guided Data Generationcited by 4
  27. 2026DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adaptercited by 4
  28. 2026StableVLA: Towards Robust Vision-Language-Action Models without Extra Datacited by 4
  29. 2025HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Modelscited by 3
  30. 2025HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learningcited by 3
  31. 2025Efficient Task-specific Conditional Diffusion Policies: Shortcut Model Acceleration and SO(3) Optimizationcited by 3
  32. 2026BFA++: Hierarchical Best-Feature-Aware Token Prune for Multi-View Vision Language Action Modelcited by 3
  33. 2026When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Executioncited by 3
  34. 2026MA-VLA: Multi-Arm Vision-Language-Action Model for Collaboration and Compositional Generalizationcited by 3
  35. 2025Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Predictioncited by 2
  36. 2025HyCodePolicy: Hybrid Language Controllers for Multimodal Monitoring and Decision in Embodied Agentscited by 2
  37. 2025Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen)cited by 2
  38. 2025FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulationcited by 2

50 most cited of 69 All 69 (JSON)