A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
42 simulation tasks ยท 18 real-world tasks ยท 5 capability axes ยท 30 policies on the public leaderboard
RoboDojo evaluates generalist robot manipulation across simulation and the real world. Simulation covers generalization, memory, precision, long-horizon execution, and open-vocabulary instruction following. Real-world tests run on ARX X5, Piper, and Piper X through RoboDojo-RealEval. XPolicyLab is the shared policy stack: integrate once, then evaluate in sim and on the robot.
๐ฆ Hugging Face Datasets
- ๐๏ธ RoboDojo: Official simulation and real-world benchmark data (HDF5 / LeRobot / depth exports). Apache-2.0.
- ๐งฉ GOAI-2026: Challenge assets released with the RoboDojo organization.
๐ Official Links
- Website / docs: robodojo-benchmark.com ยท Wiki
- Paper: arXiv:2607.04434
- Benchmark repo: robodojo-benchmark/RoboDojo
- Policy stack: XPolicyLab/XPolicyLab
- Leaderboard: View leaderboard
- Contact: RoboDojoCommittee@gmail.com
- Community: WeChat ยท Discord ยท Feishu ยท QQ โ see the project page
๐ Citation
If you use RoboDojo, XPolicyLab, or the leaderboard in your work, please cite:
@article{chen2026robodojo,
title={{RoboDojo}: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies},
author={Chen, Tianxing and Chen, Yue and Li, Zixuan and Tang, Junyuan and Su, Kailun and Wan, Weijie and Chen, Baijun and Lu, Haoran and Yan, Haowen and Su, Honghao and others},
journal={arXiv preprint arXiv:2607.04434},
year={2026}
}
@article{community2026xpolicylab,
title={{XPolicyLab}: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment},
author={Community, XPolicyLab and Chen, Tianxing and Chen, Yue and Nian, Tian and Cai, Zijian and Chen, Guangyu and Lin, Wenwei and Liang, Qiwei and Xiang, Peicheng and Su, Kailun and others},
journal={arXiv preprint arXiv:2608.09892},
year={2026}
}