MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts

arXiv:2609.25689 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Benchmark — 47× in this paper · explained in 2 episodes
• Domain Shift — 21× in this paper · explained in 4 episodes
• Robustness — 11× in this paper · explained in 5 episodes
• Generalization — 8× in this paper · explained in 13 episodes
• Dynamic Object Manipulation — 4× in this paper
• Foundation Model — 3× in this paper · explained in 3 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Contact Transition — 2× in this paper
• Embodied AI — 2× in this paper · explained in 2 episodes
• Model-Agnostic — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Compositional Generalization — 1× in this paper · explained in 4 episodes
• Constant-Acceleration Translation — 1× in this paper
• Core — 1× in this paper · explained in 2 episodes
• Embodied Interaction — 1× in this paper
• Evaluation Dimensions — 1× in this paper · explained in 3 episodes
• Factory Conveyor — 1× in this paper
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Free Fall — 1× in this paper
• Guided Redirection — 1× in this paper
• Home Tabletop — 1× in this paper
• Oscillatory Motion — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• RT-1: Robotics Transformer for Real-World Control at Scale
• Octo: An Open-Source Generalist Robot Policy
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Gemini Robotics: Bringing AI into the Physical World
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model
• RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
• VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Model
• A Pragmatic VLA Foundation Model
• Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
• Towards Generalizable Robotic Manipulation in Dynamic Environments
• PhysMani: Physics-principled 3D World Model for Dynamic Object Manipulation
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?

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