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Many rely on simple, short-horizon, or skill-narrow tasks with limited capability coverage, and are often conducted only in simulation or only in the real world. Simulation enables scalable feedback but misses physical deployment challenges, while real-world evaluation is costly, time-consuming, and difficult to reproduce. We introduce RoboDojo, a unified sim-and-real benchmark for comprehensive evaluation of generalist robot manipulation policies. RoboDojo includes 42 simulation tasks and 18 real-world tasks covering diverse and complementary manipulation capabilities. The simulation benchmark evaluates five dimensions: generalization, memory, precision, long-horizon execution, and open-vocabulary instruction following, while the real-world benchmark exposes policies to challengi","title":"RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies","url":"https://arxiv.org/abs/2607.04434","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.04434v2 Announce Type: replace-cross \nAbstract: Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-horizon, or skill-narrow tasks with limited capability coverage, and are often conducted only in simulation or only in the real world. Simulation enables scalable feedback but misses physical deployment challenges, while real-world evaluation is costly, time-consuming, and difficult to reproduce. We introduce RoboDojo, a unified sim-and-real benchmark for comprehensive evaluation of generalist robot manipulation policies. RoboDojo includes 42 simulation tasks and 18 real-world tasks covering diverse and complementary manipulation capabilities. The simulation benchmark evaluates five dimensions: generalization, memory, precision, long-horizon execution, and open-vocabulary instruction following, while the real-world benchmark exposes policies to challengi","title":"RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-08T04:43:57Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.04434"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:4c563477fe3534c067eea3dcb5eaa2e9bef7530aeb9d3aa3c31030061917aa147eaf9ad948131f4b9a84e6b3d3614ec2ed4da77ef9e0fb2f9cf4137376d5930c","signer":"crovia.substrate","subject":{"observed_at":"2026-07-08T04:43:57Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.04434"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"c64aaabc3886b422f43fb6e4b2c2a0af7eff9733db9e320406e8bcafca47006d","leaf_index":292882,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"b73014a221ebb01f8a40f98d0dc294591ab614a6ef45fb2f72fe864c7b478892","side":"right"},{"sibling":"d357dad14e5a651e887d17b65d147f8b46f41b3c5a0f363cffaa792a6d52230c","side":"left"},{"sibling":"f88b67f92cb0dc3648c99a9e262bffa36e9fff138779973065b11442ebb246e7","side":"right"},{"sibling":"67d90a0ebcb8d033b57284387e1f31d0cb1958f2a8541eee8a526aec7bc43f1d","side":"right"},{"sibling":"0579682efbe5934037ec7867f2690378452a425e1de6db2f128294da921e5899","side":"left"},{"sibling":"9ad64c6e4e0b96e008a7023c5b53a49734815b1b1a1b16378dcf9d804f9c413c","side":"right"},{"sibling":"617e77750d7be8d258b9672f3c2eda5e4b605f07228adb8c241e1d828792a13e","side":"right"},{"sibling":"a1c7308f551daa63b64ec77cc13d449bf33e99901d0dda2db2f31bbffc489f6c","side":"right"},{"sibling":"db7425c634a173a48b66583ee32c1bbc8bd9d8222fc9a058769c375b58d4e350","side":"right"},{"sibling":"734e0b99d24020d46ff89b3a21d7fd47637f7587e4afe586fb6fe1f49fb14951","side":"right"},{"sibling":"1174a91ffd715fef4004c103054ba3979b0df671a97b9986f26c644b22f7b68e","side":"right"},{"sibling":"03a737b0f0acc6f32fb2a629212bfae02d124a0d6546cc82e3c7ae458b43fda6","side":"left"},{"sibling":"76855b4804c75c52bf97aa34358950d42d6103cdc1a86be5f0a2c8de4d65c106","side":"left"},{"sibling":"a75ab4319e241beeddb1b3f5705febe0422937926c3479923ccfb0b0082fa4e3","side":"left"},{"sibling":"bd04fa605f883bfb2b81510d045b1e85e555a03da3be083619f61384dfe40ff8","side":"left"},{"sibling":"9e75f2ab0ddf2dc9e92af7049244c21b909734ab57906a35dfad2853ca9966e2","side":"right"},{"sibling":"e6cd4cad39a4b6ca6647d1b0ad2db86e57e5fa6240f65966c10093e91140769b","side":"right"},{"sibling":"90a7efc6b94ec8913fbdf03f4927a821b9fb89921d526716f5ee28f015303779","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":292998,"merkle_root":"f533b7efebdfd8fb6ba3e7cc158ee55261fd53a7985f234cfea359170dad4d5a","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260708T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-08T05:38:17Z","sig_algorithm":"ed25519","signature":"07ebb10c732bbffb28b55a5db01d5525f6b8ab7ef36e1e0a68c35c96ded99f7040c277edba75eb6b15c77feda30bd5321e31ada6f572b674d06f4f8e24bd2f07","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_221edd9fee3e3f704f0c686e3f448a923c93ed4b540b3fee167b2d47909cd9e3"}}