RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation

Description

We present RoboEval, a simulation benchmark and structured evaluation framework designed to reveal the limitations of current bimanual manipulation policies. While prior benchmarks report only binary task success, we show that such metrics often conceal critical weaknesses in policy behavior -- such as poor coordination, slipping during grasping, or asymmetric arm usage. RoboEval introduces a suite of tiered, semantically grounded tasks decomposed into skill-specific stages, with variations that

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