# RealAppliance: Let High-fidelity Appliance Assets Controllable and Workable as Aligned Real Manuals

arXiv: https://arxiv.org/abs/2512.00287 · HTML: https://mlsanity.com/paper/2512.00287/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 14 references that are in the map.
- First posted on arXiv 29 Nov 2025.

## Builds on (most cited first, 12 of 12)

- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [SAPIEN: A SimulAted Part-based Interactive ENvironment](https://mlsanity.com/paper/2003.08515/) (2020)
- [GLM-4.5V and GLM-4.1V-Thinking: Towards Versatile Multimodal Reasoning with Scalable Reinforcement Learning](https://mlsanity.com/paper/2507.01006/) (2025)
- [ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation](https://mlsanity.com/paper/2312.16217/) (2023)
- [FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects](https://mlsanity.com/paper/2205.04382/) (2022)
- [RoboBrain 2.0 Technical Report](https://mlsanity.com/paper/2507.02029/) (2025)
- [Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation](https://mlsanity.com/paper/2503.13424/) (2025)
- [CheckManual: A New Challenge and Benchmark for Manual-based Appliance Manipulation](https://mlsanity.com/paper/2506.09343/) (2025)
- [Robot Operation of Home Appliances by Reading User Manuals](https://mlsanity.com/paper/2505.20424/) (2025)

## Built on by (most cited first, 2 of 2)

- [AssemLM: A Spatial Reasoning Multimodal Large Language Model for Robotic Assembly](https://mlsanity.com/paper/2604.08983/) (2026)
- [Scaling Manual-Grounded Appliance Manipulation with Data Synthesis and Unified Planning](https://mlsanity.com/paper/2608.15863/) (2026)

## Abstract (arXiv)

Existing appliance assets suffer from poor rendering, incomplete mechanisms, and misalignment with manuals, leading to simulation-reality gaps that hinder appliance manipulation development. In this work, we introduce the RealAppliance dataset, comprising 100 high-fidelity appliances with complete physical, electronic mechanisms, and program logic aligned with their manuals. Based on these assets, we propose the RealAppliance-Bench benchmark, which evaluates multimodal large language models and embodied manipulation planning models across key tasks in appliance manipulation planning: manual page retrieval, appliance part grounding, open-loop manipulation planning, and closed-loop planning adjustment. Our analysis of model performances on RealAppliance-Bench provides insights for advancing appliance manipulation research