# MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objects

arXiv: https://arxiv.org/abs/2507.21796 · HTML: https://mlsanity.com/paper/2507.21796/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 55 references that are in the map.
- First posted on arXiv 29 Jul 2025.

## Builds on (most cited first, 30 of 34)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://mlsanity.com/paper/2410.00425/) (2024)
- [Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots](https://mlsanity.com/paper/2310.13724/) (2023)
- [SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation](https://mlsanity.com/paper/2011.07215/) (2020)
- [PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics](https://mlsanity.com/paper/2104.03311/) (2021)
- [ManipulaTHOR: A Framework for Visual Object Manipulation](https://mlsanity.com/paper/2104.11213/) (2021)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AI](https://mlsanity.com/paper/2103.14025/) (2021)
- [Assistive Gym: A Physics Simulation Framework for Assistive Robotics](https://mlsanity.com/paper/1910.04700/) (2019)
- [Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators](https://mlsanity.com/paper/2201.03871/) (2022)
- [OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control](https://mlsanity.com/paper/2309.12825/) (2023)
- [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities](https://mlsanity.com/paper/2503.05652/) (2025)
- [M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes](https://mlsanity.com/paper/2410.11402/) (2024)
- [Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning](https://mlsanity.com/paper/2101.05325/) (2021)
- [DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics](https://mlsanity.com/paper/2210.13066/) (2022)
- [Learning Deformable Object Manipulation from Expert Demonstrations](https://mlsanity.com/paper/2207.10148/) (2022)
- [Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks](https://mlsanity.com/paper/2405.18860/) (2024)
- [ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity](https://mlsanity.com/paper/2404.16027/) (2024)
- [Learning to Open and Traverse Doors with a Legged Manipulator](https://mlsanity.com/paper/2409.04882/) (2024)
- [Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots](https://mlsanity.com/paper/2503.01471/) (2025)
- [DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy](https://mlsanity.com/paper/2505.11032/) (2025)
- [Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions](https://mlsanity.com/paper/2303.05508/) (2023)
- [Cloth Manipulation Using Random-Forest-Based Imitation Learning](https://mlsanity.com/paper/1802.09661/) (2018)

## Built on by (most cited first, 1 of 1)

- [SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)](https://mlsanity.com/paper/2607.04234/) (2026)

## Abstract (arXiv)

Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various benchmarks have been proposed to evaluate manipulation strategies with rigid objects, there is still a notable lack of standardized benchmarks that address mobile manipulation tasks involving deformable objects. To address this gap, we introduce MoDeSuite, the first Mobile Manipulation Deformable Object task suite, designed specifically for robot learning. MoDeSuite consists of eight distinct mobile manipulation tasks covering both elastic objects and deformable objects, each presenting a unique challenge inspired by real-world robot applications. Success in these tasks requires effective collaboration between the robot's base and manipulator, as well as the ability to exploit the deformability of the objects. To evaluate and demonstrate the use of the proposed benchmark, we train two state-of-the-art reinforcement learning algorithms and two imitation learning algorithms, highlighting the difficulties encountered and showing their performance in simulation. Furthermore, we demonstrate the practical relevance of the suite by deploying the trained policies directly into the real world with the Spot robot, showcasing the potential for sim-to-real transfer. We expect that MoDeSuite will open a novel research domain in mobile manipulation involving deformable objects. Find more details, code, and videos at https://sites.google.com/view/modesuite/home.