{"id":"https://openalex.org/W7164900779","doi":"https://doi.org/10.48550/arxiv.2606.16826","title":"ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies","display_name":"ATOM-Bench: A Real-World Benchmark for Atomic Skills and Compositional Generalization in Manipulation Policies","publication_year":2026,"publication_date":"2026-06-15","ids":{"openalex":"https://openalex.org/W7164900779","doi":"https://doi.org/10.48550/arxiv.2606.16826"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.16826","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16826","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.2606.16826","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138739095","display_name":"Zenan Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Zenan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138700796","display_name":"Bingqing Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Bingqing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138738651","display_name":"Lu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Lu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330410","display_name":"Zheqi He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Zheqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138700988","display_name":"Xi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070426597","display_name":"Jiakang Liu","orcid":"https://orcid.org/0009-0002-7565-2700"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jiakang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138732090","display_name":"Zehui Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zehui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042904440","display_name":"Guocai Yao","orcid":"https://orcid.org/0000-0002-0673-0229"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao, Guocai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088892958","display_name":"Zheng Jing-shu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Jing-Shu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030018760","display_name":"Xiaomin Yang","orcid":"https://orcid.org/0000-0002-5593-5108"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Xi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138711126","display_name":"Yongtao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yongtao","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":0.9437999725341797,"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":0.9437999725341797,"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":0.016200000420212746,"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/T10982","display_name":"Motor Control and Adaptation","score":0.004999999888241291,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.754800021648407},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6920999884605408},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6743999719619751},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5974000096321106},{"id":"https://openalex.org/keywords/atomicity","display_name":"Atomicity","score":0.374099999666214},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.3693000078201294},{"id":"https://openalex.org/keywords/dreyfus-model-of-skill-acquisition","display_name":"Dreyfus model of skill acquisition","score":0.3240000009536743}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.754800021648407},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6920999884605408},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6743999719619751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6345999836921692},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3804999887943268},{"id":"https://openalex.org/C188045909","wikidata":"https://www.wikidata.org/wiki/Q3306359","display_name":"Atomicity","level":3,"score":0.374099999666214},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C121375916","wikidata":"https://www.wikidata.org/wiki/Q936559","display_name":"Principle of compositionality","level":2,"score":0.30469998717308044},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3041999936103821},{"id":"https://openalex.org/C194778546","wikidata":"https://www.wikidata.org/wiki/Q15308119","display_name":"Atomic model","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C169976356","wikidata":"https://www.wikidata.org/wiki/Q13208902","display_name":"Motor skill","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C102951782","wikidata":"https://www.wikidata.org/wiki/Q49295","display_name":"Atomic force microscopy","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2587999999523163},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.16826","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16826","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.2606.16826","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16826","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":[{"id":"https://metadata.un.org/sdg/4","score":0.6200502514839172,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generalist":[0],"manipulation":[1,58,63,160],"policies":[2,166],"are":[3,111],"increasingly":[4],"presented":[5],"as":[6],"foundation":[7],"models":[8],"for":[9,49,92,201],"robotic":[10],"control,":[11],"but":[12,172],"their":[13],"real-world":[14,47,108],"generalization":[15,56],"remains":[16],"difficult":[17],"to":[18,30,105,138,192],"diagnose.":[19],"A":[20],"policy":[21],"may":[22],"succeed":[23],"on":[24,113,118,157],"demonstrated":[25],"tasks":[26,74,79,115],"while":[27],"still":[28,173],"failing":[29],"execute":[31],"fine-grained":[32,176],"atomic":[33,52,73,93,114,120,144,186],"skills":[34,38,53,145],"or":[35,213],"recombine":[36],"learned":[37],"in":[39,57],"new":[40],"task":[41],"structures.":[42],"We":[43,87,127],"introduce":[44,129],"\\textbf{ATOM-Bench},":[45],"a":[46,198],"benchmark":[48],"evaluating":[50],"both":[51,97,119],"and":[54,67,70,75,83,95,101,116,123,133,180],"compositional":[55,78,125,151,194,215],"policies.":[59],"ATOM-Bench":[60,196],"factorizes":[61],"tabletop":[62],"into":[64],"motor":[65,177,208],"atoms":[66],"instruction":[68,211],"atoms,":[69,178],"contains":[71],"30":[72],"24":[76],"held-out":[77,124,193],"across":[80],"paired":[81],"single-arm":[82],"dual-arm":[84],"robot":[85],"tracks.":[86],"collect":[88],"3,000":[89],"human":[90],"demonstrations":[91],"fine-tuning":[94],"release":[96],"the":[98],"demonstration":[99],"data":[100,104],"evaluation":[102],"rollout":[103],"support":[106],"reproducible":[107],"evaluation.":[109],"Policies":[110],"fine-tuned":[112],"evaluated":[117],"skill":[121],"acquisition":[122],"tasks.":[126,195],"further":[128],"Atomic":[130],"Score":[131],"(AS)":[132],"Compositional":[134],"Failure":[135],"Share":[136],"(CFS)":[137],"distinguish":[139],"failures":[140,147,204],"caused":[141,148],"by":[142,149],"weak":[143,207],"from":[146,206],"limited":[150,214],"reuse.":[152,216],"Through":[153],"2,700":[154],"physical":[155],"rollouts":[156],"five":[158],"representative":[159],"policies,":[161],"we":[162],"find":[163],"that":[164],"current":[165],"can":[167],"acquire":[168],"simple":[169],"instruction-grounding":[170],"skills,":[171],"struggle":[174],"with":[175],"counting,":[179],"logical":[181],"filtering.":[182],"More":[183],"importantly,":[184],"strong":[185],"performance":[187],"does":[188],"not":[189],"reliably":[190],"transfer":[191],"provides":[197],"diagnostic":[199],"testbed":[200],"studying":[202],"whether":[203],"arise":[205],"execution,":[209],"poor":[210],"grounding,":[212]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}
