# LabUtopia: High-Fidelity Simulation and Hierarchical Benchmark for Scientific Embodied Agents

arXiv: https://arxiv.org/abs/2505.22634 · HTML: https://mlsanity.com/paper/2505.22634/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 May 2025.

## Built on by (most cited first, 15 of 15)

- [RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics](https://mlsanity.com/paper/2506.04308/) (2025)
- [From AI for Science to Agentic Science: A Survey on Autonomous Scientific Discovery](https://mlsanity.com/paper/2508.14111/) (2025)
- [VIKI-R: Coordinating Embodied Multi-Agent Cooperation via Reinforcement Learning](https://mlsanity.com/paper/2506.09049/) (2025)
- [OptiScene: LLM-driven Indoor Scene Layout Generation via Scaled Human-aligned Data Synthesis and Multi-Stage Preference Optimization](https://mlsanity.com/paper/2506.07570/) (2025)
- [El Agente Quntur: A research collaborator agent for quantum chemistry](https://mlsanity.com/paper/2602.04850/) (2026)
- [LABSHIELD: A Multimodal Benchmark for Safety-Critical Reasoning and Planning in Scientific Laboratories](https://mlsanity.com/paper/2603.11987/) (2026)
- [LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratories](https://mlsanity.com/paper/2606.13578/) (2026)
- [GauDP: Reinventing Multi-Agent Collaboration through Gaussian-Image Synergy in Diffusion Policies](https://mlsanity.com/paper/2511.00998/) (2025)
- [LabGuard: Grounding Natural-Language Laboratory Rules into Runtime Guards for Embodied Laboratory Agents](https://mlsanity.com/paper/2606.31045/) (2026)
- [Revisiting the Travel Planning Capabilities of Large Language Models](https://mlsanity.com/paper/2605.03308/) (2026)
- [UniETP: Unifying Environments for Generalizable Embodied Task Planning](https://mlsanity.com/paper/2607.18062/) (2026)
- [LabRobFail: A Benchmark for Robotic Failure Analysis in Chemical Self-driving Laboratory](https://mlsanity.com/paper/2607.23704/) (2026)
- [ChemWorld: Programmable Chemical Worlds for Controlled and Replayable Agent Experimentation](https://mlsanity.com/paper/2608.10792/) (2026)
- [SciHorizon-eLab: An Agentic Protocol-to-Task Compiler for Scalable Benchmarking of Scientific Embodied Agents](https://mlsanity.com/paper/2609.30971/) (2026)
- [Grounded in Time: A Multi-Source Dataset and Benchmark for Temporal Grounding in Robotic Manipulation](https://mlsanity.com/paper/2610.04255/) (2026)

## Abstract (arXiv)

Scientific embodied agents play a crucial role in modern laboratories by automating complex experimental workflows. Compared to typical household environments, laboratory settings impose significantly higher demands on perception of physical-chemical transformations and long-horizon planning, making them an ideal testbed for advancing embodied intelligence. However, its development has been long hampered by the lack of suitable simulator and benchmarks. In this paper, we address this gap by introducing LabUtopia, a comprehensive simulation and benchmarking suite designed to facilitate the development of generalizable, reasoning-capable embodied agents in laboratory settings. Specifically, it integrates i) LabSim, a high-fidelity simulator supporting multi-physics and chemically meaningful interactions; ii) LabScene, a scalable procedural generator for diverse scientific scenes; and iii) LabBench, a hierarchical benchmark spanning five levels of complexity from atomic actions to long-horizon mobile manipulation. LabUtopia supports 30 distinct tasks and includes more than 200 scene and instrument assets, enabling large-scale training and principled evaluation in high-complexity environments. We demonstrate that LabUtopia offers a powerful platform for advancing the integration of perception, planning, and control in scientific-purpose agents and provides a rigorous testbed for exploring the practical capabilities and generalization limits of embodied intelligence in future research.