{"id":"https://openalex.org/W7151783742","doi":"https://doi.org/10.48550/arxiv.2604.05226","title":"RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains","display_name":"RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7151783742","doi":"https://doi.org/10.48550/arxiv.2604.05226"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.05226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.05226","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082014572","display_name":"Yi Ru Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yi Ru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133185840","display_name":"Carter Ung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ung, Carter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133221177","display_name":"Evan Gubarev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gubarev, Evan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133161534","display_name":"Christopher Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tan, Christopher","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Srinivasa, Siddhartha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133227027","display_name":"Dieter Fox","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fox, Dieter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7806000113487244,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7806000113487244,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05559999868273735,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.051899999380111694,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6482999920845032},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5680999755859375},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.5443999767303467},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5371000170707703},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4309000074863434},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.43059998750686646},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.42010000348091125},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.38510000705718994},{"id":"https://openalex.org/keywords/structured-prediction","display_name":"Structured prediction","score":0.37630000710487366}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7574999928474426},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6482999920845032},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5830000042915344},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5680999755859375},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5443999767303467},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5371000170707703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44020000100135803},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.43059998750686646},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.42010000348091125},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.38510000705718994},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.37630000710487366},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.37610000371932983},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.3474000096321106},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C187029079","wikidata":"https://www.wikidata.org/wiki/Q958679","display_name":"Cognitive reframing","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C2781215313","wikidata":"https://www.wikidata.org/wiki/Q3493345","display_name":"SPARK (programming language)","level":2,"score":0.3203999996185303},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.31220000982284546},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.29989999532699585},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C135257023","wikidata":"https://www.wikidata.org/wiki/Q691358","display_name":"Domain-specific language","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.05226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.05226","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05226","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Evaluation":[0],"of":[1,16,52,117],"robotic":[2],"manipulation":[3,59,83,138],"systems":[4],"has":[5],"largely":[6],"relied":[7],"on":[8,171],"fixed":[9,183],"benchmarks":[10],"authored":[11],"by":[12],"a":[13,65,75,89,114,135],"small":[14],"number":[15],"experts,":[17],"where":[18],"task":[19,47,100,173,190,198],"instances,":[20],"constraints,":[21,49],"and":[22,27,38,50,108,123,129,140,158,165],"success":[23,109],"criteria":[24],"are":[25,96,179],"predefined":[26],"difficult":[28],"to":[29,43,80,156,204],"extend.":[30],"This":[31],"paradigm":[32],"limits":[33],"who":[34],"can":[35],"shape":[36],"evaluation":[37,63,202],"obscures":[39],"how":[40],"policies":[41,60,170],"respond":[42],"user-authored":[44],"variations":[45],"in":[46,134],"intent,":[48],"notions":[51],"success.":[53],"We":[54,72,131],"argue":[55],"that":[56,77,150,178,189],"evaluating":[57],"modern":[58],"requires":[61],"reframing":[62],"as":[64],"language-driven":[66,152],"process":[67],"over":[68],"structured":[69,90,115,136],"physical":[70,91],"domains.":[71],"present":[73],"RoboPlayground,":[74],"framework":[76],"enables":[78],"users":[79],"author":[81],"executable":[82],"tasks":[84],"using":[85],"natural":[86],"language":[87,94],"within":[88],"domain.":[92],"Natural":[93],"instructions":[95],"compiled":[97],"into":[98],"reproducible":[99],"specifications":[101],"with":[102,193],"explicit":[103],"asset":[104],"definitions,":[105],"initialization":[106],"distributions,":[107],"predicates.":[110],"Each":[111],"instruction":[112],"defines":[113],"family":[116],"related":[118],"tasks,":[119],"enabling":[120,201],"controlled":[121],"semantic":[122],"behavioral":[124],"variation":[125],"while":[126],"preserving":[127],"executability":[128],"comparability.":[130],"instantiate":[132],"RoboPlayground":[133],"block":[137],"domain":[139],"evaluate":[141],"it":[142],"along":[143],"three":[144],"axes.":[145],"A":[146],"user":[147],"study":[148],"shows":[149],"the":[151],"interface":[153],"is":[154],"easier":[155],"use":[157],"imposes":[159],"lower":[160],"cognitive":[161],"workload":[162],"than":[163,197],"programming-based":[164],"code-assist":[166],"baselines.":[167],"Evaluating":[168],"learned":[169],"language-defined":[172],"families":[174],"reveals":[175],"generalization":[176],"failures":[177],"not":[180],"apparent":[181],"under":[182],"benchmark":[184],"evaluations.":[185],"Finally,":[186],"we":[187],"show":[188],"diversity":[191,195],"scales":[192],"contributor":[194],"rather":[196],"count":[199],"alone,":[200],"spaces":[203],"grow":[205],"continuously":[206],"through":[207],"crowd-authored":[208],"contributions.":[209],"Project":[210],"Page:":[211],"https://roboplayground.github.io":[212]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-09T00:00:00"}