mlsanityData to 7 Oct 2026

RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots

arXiv 2603.04356 ↗First posted 4 Mar 2026cs.RO cs.AI cs.LGcited by 65

Not on the map. Why?

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

Abstract (arXiv)

Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible, large-scale benchmark for systematic evaluation. To fill this gap, we present RoboCasa365, a comprehensive simulation benchmark for household mobile manipulation. Built on the RoboCasa platform, RoboCasa365 introduces 365 everyday tasks across 2,500 diverse kitchen environments, with over 600 hours of human demonstration data and over 1600 hours of synthetically generated demonstration data -- making it one of the most diverse and large-scale resources for studying generalist policies. RoboCasa365 is designed to support systematic evaluations for different problem settings, including multi-task learning, robot foundation model training, and lifelong learning. We conduct extensive experiments on this benchmark with state-of-the-art methods and analyze the impacts of task diversity, dataset scale, and environment variation on generalization. Our results provide new insights into what factors most strongly affect the performance of generalist robots and inform strategies for future progress in the field.

Key facts. Cited by 65 papers in the map (data through 7 Oct 2026). Builds on 36 of its 44 references that are in the map. First posted on arXiv 4 Mar 2026.

Builds on

36 of 44 references.

References · 36

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  2. 2022Flow Matching for Generative Modelingcited by 5,426
  3. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  4. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  5. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  6. 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,286
  7. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  8. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  9. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  10. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  11. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  12. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
24 more
  1. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  2. 2024PaliGemma: A versatile 3B VLM for transfercited by 679
  3. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
  4. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  5. 2025SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Roboticscited by 507
  6. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  7. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  8. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  9. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  10. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  11. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  12. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  13. 2023GenSim: Generating Robotic Simulation Tasks via Large Language Modelscited by 120
  14. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  15. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  16. 2024Automated Creation of Digital Cousins for Robust Policy Learningcited by 88
  17. 2025Eagle 2: Building Post-Training Data Strategies from Scratch for Frontier Vision-Language Modelscited by 69
  18. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 63
  19. 2023Train Offline, Test Online: A Real Robot Learning Benchmarkcited by 47
  20. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  21. 2025Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulationcited by 42
  22. 2016Analysis and Observations from the First Amazon Picking Challengecited by 41
  23. 2025What Matters in Learning from Large-Scale Datasets for Robot Manipulationcited by 20
  24. 2021A Holistic Approach to Reactive Mobile Manipulationcited by 15

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 65.

65 papers.

Sort:

By area:

  1. 2026Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Modelscited by 47
  2. 2026Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agentscited by 37
  3. 2026RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policiescited by 35
  4. 2026ENPIRE: Agentic Robot Policy Self-Improvement in the Real Worldcited by 31
  5. 2026ABot-M0.5: Unified Mobility-and-Manipulation World Action Modelcited by 28
  6. 2026RLDX-1 Technical Reportcited by 25
  7. 2026Articraft: An Agentic System for Scalable Articulated 3D Asset Generationcited by 25
  8. 2026Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectoriescited by 24
  9. 2026Reconstruction or Semantics? What Makes a Latent Space Useful for Robotic World Modelscited by 21
  10. 2026Agentic World Modeling: Foundations, Capabilities, Laws, and Beyondcited by 10
  11. 2026Geometric Action Model for Robot Policy Learningcited by 10
  12. 2026SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Modelscited by 8
38 more
  1. 2026Rewind-IL: Online Failure Detection and State Respawning for Imitation Learningcited by 7
  2. 2026Masked Visual Actions for Unified World Modelingcited by 7
  3. 2026ManiTwin: Scaling Data-Generation-Ready Digital Object Dataset to 100Kcited by 5
  4. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  5. 2026How VLAs (Really) Work In Open-World Environmentscited by 3
  6. 2026TempoVLA: Learning Speed-Controllable Vision-Language-Action Policiescited by 3
  7. 2026LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratoriescited by 3
  8. 2026FACT: Failure-Aware Causal Training for World-Action Modelscited by 3
  9. 2026VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Modelscited by 2
  10. 2026PointAction: 3D Points as Universal Action Representations for Robot Controlcited by 2
  11. 2026DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real Worldcited by 2
  12. 2026μ0: A Scalable 3D Interaction-Trace World Modelcited by 2
  13. 2026Instruct-Particulate: Scaling Feed-Forward 3D Object Articulation with Kinematic Controlcited by 2
  14. 2026Ordered Action Tokens for Visuomotor Policy Learningcited by 2
  15. 2026The Geometry of Flow-Matching Uncertainty: A Cost-free Uncertainty Proxy and Its Application in Flow-based VLA Failure Detectioncited by 2
  16. 2026Riemann-1.0: An Embodied World Action Model for Physical AIcited by 2
  17. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Handscited by 2
  18. 2026Fewer Tokens, Better Action: GPT-6 Astra Robot Agents with 14% Higher Success Rate but 65% Fewer Tokenscited by 2
  19. 2026SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worldscited by 1
  20. 2026How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learningcited by 1
  21. 2026Learned Image Compression for Vision-Language-Action Modelscited by 1
  22. 2026GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environmentscited by 1
  23. 2026Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentationcited by 1
  24. 2026How Should Vision-Language-Action Models Use Proprioceptive State?cited by 1
  25. 2026Adaptation of Generalist Robot Policies with Minimal Datacited by 1
  26. 2026Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulatorscited by 0
  27. 2026Dream.exe: Can Video Generation Models Dream Executable Robot Manipulation?cited by 0
  28. 2026A Practical Recipe Towards Improving Sim-and-Real Correlation for VLA Evaluationcited by 0
  29. 2026Inductive Generalization for Robotic Manipulationcited by 0
  30. 2026Embodied Operators and Benchmarking: Toward Reusable and Deployable Embodied Intelligence Systemscited by 0
  31. 2026DeepInsight II: One Trace from Benchmark to Robotcited by 0
  32. 2026EATR-Stereo: Embodiment-Aware Token Routing of Paired Stereo Evidence for Humanoid Vision-Language-Action Controlcited by 0
  33. 2026N0-Foundation: Towards the Age of Tactile Intelligencecited by 0
  34. 2026Beyond Single-Axis Testing: Paired Evaluation of Compound Robustness in Vision-Language-Action Policiescited by 0
  35. 2026Learning and Transferring Closed-Loop Robot Softwarecited by 0
  36. 2026GeoAAC: Geometry-Based Adaptive Action Chunking from Denoising Trajectories in VLA Policiescited by 0
  37. 2026RoboTalk: Learning Multi-Robot Communication and Coordination from Multimodal Demonstrationscited by 0
  38. 2026ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulationcited by 0

50 most cited of 65 All 65 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2026RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
  2. 2026X2Real: an eXtensive simulation benchmark for real-world generalist policies ↗
  3. 2025REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation
  4. 2026ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
  5. 2023RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation
  6. 2026ArmnetBench v0.1: Parallel Real-World Evaluation of Manipulation Policies on a Low-Cost Arm Farm
  7. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  8. 2026RoboSynChallenge: Mastering Real-World Dexterity via Generalizing Synthesized Manipulation Skills ↗