RoboDojo

RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies

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✨ Highlights

Overview of RoboDojo. RoboDojo unifies efficient simulation evaluation and reproducible real-world testing for generalist robot manipulation, covering 42 simulation tasks, 18 real-world tasks, heterogeneous parallel simulation, RoboDojo-RealEval, XPolicyLab, and a continuously updated leaderboard.

RoboDojo is eval-only in this release: it provides the simulator client, benchmark tasks, asset/config validation, and result artifacts. Policy integration and policy servers are owned by XPolicyLab.

• 🌐 Unified sim-and-real benchmark — 42 simulation tasks and 18 real-world tasks across 3 robot embodiments for generalist robot manipulation.
• 🧭 Five capability dimensions — Generalization, Memory, Precision, Long-Horizon, and Open, designed to probe different skills rather than simple object or layout reskins.
• 🧗 Challenging by design — intentionally hard, diverse, long-horizon tasks that expose failures hidden by simpler benchmarks.
• ⚡ Heterogeneous parallel simulation — runs different tasks, scenes, and processes concurrently on Isaac Sim for fast, scalable feedback.
• 🧱 Physically grounded assets — rigid, articulated, and deformable objects in a single configuration-driven scene.
• 🤖 Integrate once, evaluate everywhere — XPolicyLab unifies 40+ policies behind one interface for both simulation and real-world runs.
• 📊 Reproducible & leaderboard-ready — seed-controlled layouts and one-command summarize aggregation into a leaderboard table.

📚 Documentation

The RoboDojo documentation is the canonical reference. Key sections: