Fiatlux: A Long-Horizon Benchmark for Humanoid Ladder Climbing and Light-Bulb Replacement

arXiv:2609.38216 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Benchmark — 40× in this paper · explained in 2 episodes
• Action Space — 4× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Clean Success Rate — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Verifier — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Chunking with Transformers — 1× in this paper
• Action Flow — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Credit assignment — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer
• LadderMan: Learning Humanoid Perceptive Ladder Climbing
• PointAction: 3D Points as Universal Action Representations for Robot Control
• Hunyuan3D 2.1: From Images to High-Fidelity 3D Assets with Production-Ready PBR Material

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