{"id":"https://openalex.org/W7164161344","doi":"https://doi.org/10.48550/arxiv.2606.10382","title":"UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data","display_name":"UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164161344","doi":"https://doi.org/10.48550/arxiv.2606.10382"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.10382","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10382","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.10382","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138374483","display_name":"Shi Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Shi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138373897","display_name":"Yuntian Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuntian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138385546","display_name":"Yuhui Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Yuhui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138383353","display_name":"Di Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Di","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042174613","display_name":"Gaoqi Dong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Gaoqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138368961","display_name":"Xiaohang Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xiaohang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138365684","display_name":"Xiaotong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiaotong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056249306","display_name":"Hongfei Jia","orcid":"https://orcid.org/0000-0002-2250-1776"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Hongfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138366429","display_name":"Zehao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zehao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138295510","display_name":"Tianyu Wang (397547)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059473015","display_name":"Zhongjie Jia","orcid":"https://orcid.org/0009-0008-4252-3578"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Zhongjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138372630","display_name":"Yuanqi Yao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao, Yuanqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138359351","display_name":"Chenjia Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Chenjia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138338540","display_name":"Zhaxizhuoma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaxizhuoma","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091016502","display_name":"Siao Liu","orcid":"https://orcid.org/0000-0003-4285-3573"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Siao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138302637","display_name":"Nieqing Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Nieqing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138319271","display_name":"Jin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138344803","display_name":"Chao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138360863","display_name":"Yan Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Yan","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":0.9289000034332275,"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":0.9289000034332275,"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":0.031599998474121094,"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":0.015399999916553497,"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/benchmark","display_name":"Benchmark (surveying)","score":0.8784999847412109},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.8756999969482422},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.715499997138977},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5184000134468079},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.513700008392334},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.35269999504089355}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8784999847412109},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8756999969482422},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7857000231742859},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.715499997138977},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5184000134468079},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.513700008392334},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4259999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3837999999523163},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C56288433","wikidata":"https://www.wikidata.org/wiki/Q58673","display_name":"Data manipulation language","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27709999680519104},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.25839999318122864},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.25279998779296875},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.10382","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10382","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.10382","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10382","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.4252884089946747,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Real-robot":[0],"evaluation":[1,70,89,115],"is":[2,18,82],"essential":[3],"for":[4,21,68,125],"understanding":[5],"whether":[6],"learned":[7],"manipulation":[8,73,92],"policies":[9,129],"can":[10],"operate":[11],"reliably":[12],"outside":[13],"curated":[14],"demonstrations.":[15],"This":[16],"need":[17],"particularly":[19],"pressing":[20],"Universal":[22],"Manipulation":[23],"Interface":[24],"(UMI)-style":[25],"policies,":[26],"whose":[27],"performance":[28],"depends":[29],"on":[30],"the":[31,76,83,113],"coupling":[32],"between":[33],"wrist-view":[34],"observations,":[35],"action":[36],"representation,":[37],"data":[38,96],"collection,":[39,97],"and":[40,104,118],"physical":[41,133],"deployment.":[42],"Existing":[43],"real-world":[44,88],"benchmarks":[45],"have":[46],"made":[47],"important":[48],"progress,":[49],"but":[50],"they":[51],"are":[52],"not":[53],"designed":[54],"around":[55],"this":[56,81],"UMI":[57],"data-to-deployment":[58],"setting.":[59],"We":[60],"present":[61],"UMI-Bench":[62,94,120],"1.0,":[63],"a":[64,108,122],"local-first":[65],"real-robot":[66],"benchmark":[67,85],"standardized":[69],"of":[71,78,90],"UMI-style":[72],"policies.":[74],"To":[75],"best":[77],"our":[79],"knowledge,":[80],"first":[84],"dedicated":[86],"to":[87,131],"UMI-based":[91],"models.":[93],"aligns":[95],"scene":[98],"reset,":[99],"policy":[100],"execution,":[101],"result":[102],"logging,":[103],"task-factor":[105],"analysis":[106],"within":[107],"unified":[109],"protocol.":[110],"By":[111],"making":[112],"full":[114],"process":[116],"reproducible":[117],"auditable,":[119],"provides":[121],"practical":[123],"testbed":[124],"measuring":[126],"how":[127],"UMI-trained":[128],"generalize":[130],"real":[132],"manipulation.":[134]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-11T00:00:00"}