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Abstract - RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible, large-scale benchmark for systematic evaluation. To fill this gap, we present RoboCasa365, a comprehensive simulation benchmark for household mobile manipulation. Built on the RoboCasa platform, RoboCasa365 introduces 365 everyday tasks across 2,500 diverse kitchen environments, with over 600 hours of human demonstration data and over 1600 hours of synthetically generated demonstration data -- making it one of the most diverse and large-scale resources for studying generalist policies. RoboCasa365 is designed to support systematic evaluations for different problem settings, including multi-task learning, robot foundation model training, and lifelong learning. We conduct extensive experiments on this benchmark with state-of-the-art methods and analyze the impacts of task diversity, dataset scale, and environment variation on generalization. Our results provide new insights into what factors most strongly affect the performance of generalist robots and inform strategies for future progress in the field.
RoboCasa365:用于训练和评估通用机器人的大规模仿真框架 /
RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
1️⃣ 一句话总结
这篇论文提出了一个名为RoboCasa365的大规模机器人仿真基准,它包含365种日常家务任务和数千个多样化厨房场景,旨在系统性地评估和训练能在家庭环境中完成多种任务的通用型机器人,并通过实验揭示了影响其性能的关键因素。