# DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World

arXiv: https://arxiv.org/abs/2606.11901 · HTML: https://mlsanity.com/paper/2606.11901/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 45 references that are in the map.
- First posted on arXiv 10 Jun 2026.

## Builds on (most cited first, 30 of 32)

- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [SAPIEN: A SimulAted Part-based Interactive ENvironment](https://mlsanity.com/paper/2003.08515/) (2020)
- [CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks](https://mlsanity.com/paper/2112.03227/) (2021)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills](https://mlsanity.com/paper/2302.04659/) (2023)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models](https://mlsanity.com/paper/2510.13626/) (2025)
- [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://mlsanity.com/paper/2107.14483/) (2021)
- [LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization](https://mlsanity.com/paper/2510.03827/) (2025)
- [RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation](https://mlsanity.com/paper/2412.13877/) (2024)
- [VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks](https://mlsanity.com/paper/2412.18194/) (2024)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation](https://mlsanity.com/paper/2305.12821/) (2023)
- [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://mlsanity.com/paper/2403.10506/) (2024)
- [FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning](https://mlsanity.com/paper/2401.08553/) (2024)
- [RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots](https://mlsanity.com/paper/2603.04356/) (2026)
- [IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks](https://mlsanity.com/paper/1911.07246/) (2019)
- [RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies](https://mlsanity.com/paper/2506.18123/) (2025)
- [RoboHive: A Unified Framework for Robot Learning](https://mlsanity.com/paper/2310.06828/) (2023)
- [BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark](https://mlsanity.com/paper/2407.07788/) (2024)
- [LIBERO-X: Robustness Litmus for Vision-Language-Action Models](https://mlsanity.com/paper/2602.06556/) (2026)
- [Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale](https://mlsanity.com/paper/2509.14932/) (2025)
- [BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination](https://mlsanity.com/paper/2604.05831/) (2026)
- [VLAgents: A Policy Server for Efficient VLA Inference](https://mlsanity.com/paper/2601.11250/) (2026)

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

- [Data Pyramid for Embodied Manipulation: A Survey](https://mlsanity.com/paper/2607.24744/) (2026)
- [N0-Foundation: Towards the Age of Tactile Intelligence](https://mlsanity.com/paper/2608.29601/) (2026)

## Abstract (arXiv)

Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captured by existing benchmarks. We introduce DuoBench, an extensible benchmarking framework for bimanual manipulation policies on the FR3 Duo platform. DuoBench comprises eleven tasks spanning four coordination categories, implemented in simulation and partially reproduced in the real world through reproducible task recipes with 3D-printable assets. In addition, we propose a stage-based evaluation scheme that supports fine-grained semantic failure analysis beyond binary success and provide human-teleoperated datasets for all benchmark tasks. We benchmark several dual-arm imitation-learning and vision-language-action policies in simulation and on real hardware. Our results show that current policies remain challenged by bimanual manipulation, particularly in early interaction stages, parallel arm execution, and transfer between simulation and real-world settings. DuoBench provides a reproducible testbed for diagnosing these failure modes and studying future methods for dual-arm policy learning. Code, datasets, and videos are available at https://duobench.github.io/