# UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data

arXiv: https://arxiv.org/abs/2606.10382 · HTML: https://mlsanity.com/paper/2606.10382/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Jun 2026.

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

- [YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation](https://mlsanity.com/paper/2610.17521/) (2026)

## Abstract (arXiv)

Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing for Universal Manipulation Interface (UMI)-style policies, whose performance depends on the coupling between wrist-view observations, action representation, data collection, and physical deployment. Existing real-world benchmarks have made important progress, but they are not designed around this UMI data-to-deployment setting. We present UMI-Bench 1.0, a local-first real-robot benchmark for standardized evaluation of UMI-style manipulation policies. To the best of our knowledge, this is the first benchmark dedicated to real-world evaluation of UMI-based manipulation models. UMI-Bench aligns data collection, scene reset, policy execution, result logging, and task-factor analysis within a unified protocol. By making the full evaluation process reproducible and auditable, UMI-Bench provides a practical testbed for measuring how UMI-trained policies generalize to real physical manipulation.