ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulation

arXiv:2609.24124 · cs.RO, cs.AI · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-21

Updated: 2026-09-23

Comments: 43 pages. Project page: https://leeibo.github.io/ActiveArena

Project page: https://leeibo.github.io/ActiveArena

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 55× in this paper · explained in 2 episodes
• Active Perception — 39× in this paper · explained in 2 episodes
• Generalization — 16× in this paper · explained in 13 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Benchmarking — 4× in this paper · explained in 3 episodes
• Core — 4× in this paper · explained in 2 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Distribution Shift — 3× in this paper · explained in 5 episodes
• Interactive Information Acquisition — 3× in this paper
• Trace — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Active Visual Search — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Context Retained — 2× in this paper
• Discovery Miss — 2× in this paper
• Embodied AI — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• World-Action Models — 2× in this paper
• Action Flow — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Context Omission — 1× in this paper
• Decode — 1× in this paper · explained in 2 episodes
• Dynamic Head Viewpoint — 1× in this paper
• Embeddings — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Manipulation Action Output — 1× in this paper
• Multi-Object Loop — 1× in this paper
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Native Diverse Keyframes — 1× in this paper
• Phase Transitions — 1× in this paper · explained in 2 episodes
• Real-World Counterpart — 1× in this paper
• Recent Vision-Language-Action — 1× in this paper
• Single-Object Search — 1× in this paper
• SingleObject Loop — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes
• State Aliasing — 1× in this paper · explained in 2 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• Qwen3-VL Technical Report
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
• RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
• EmbodiedEval: Evaluate Multimodal LLMs as Embodied Agents
• StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
• RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
• SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation
• LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
• Towards Human-level Intelligence via Human-like Whole-Body Manipulation
• ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
• TIGeR: Tool-Integrated Geometric Reasoning in Vision-Language Models for Robotics
• Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategy
• ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop
• VIMA: General Robot Manipulation with Multimodal Prompts
• OpenVLA: An Open-Source Vision-Language-Action Model
• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark
• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation

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