ManiUnit: A Manipulation Skill Dataset and Benchmark for Long-Horizon Tasks

arXiv:2610.12089 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Benchmark — 33× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Benchmarking — 3× in this paper · explained in 3 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Instruction Tuning — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Grounding — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Openpi Comet: Competition Solution For 2025 BEHAVIOR Challenge
• Gemini Robotics: Bringing AI into the Physical World
• Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge
• Eval-Actions: Fine-Grained Execution Quality Evaluation for Robotic Manipulation
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
• RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
• RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation

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