Benchmarks
| Benchmark | Simulator | Tasks | Triaged |
| BEHAVIOR-1K | OmniGibson (NVIDIA Isaac Sim) | 100 | 0/100 |
| DexToolBench | MuJoCo 3.3.7 (our port; upstream runs Isaac Sim / Isaac Gym) | 24 | 21/24 |
| HumanoidBench | MuJoCo 3 (HumanoidBench's gymnasium environments) | 9 + 15 excluded | 9/9 |
| KinDER | MuJoCo 3.3 (KinDER's Dynamic3D environments); PyBullet for two kinematic tasks now excluded | 4 + 7 excluded | 4/4 |
| MetaWorld+ | MuJoCo 3.3.0 (Meta-World v3) | 50 | 50/50 |
| MolmoSpaces | MuJoCo 3.5.0 (molmo-spaces 0.2.9) | 8 | 8/8 |
| MuJoCo Playground (manipulation) | MuJoCo 3.3.7 (plain MuJoCo on the CPU; upstream trains in MJX / MuJoCo Warp) | 10 | 4/10 |
| RoboCasa-GR1 | robosuite @ 51cc017 (1.5.1, mink whole-body IK) / MuJoCo 3.2.6 (RoboCasa GR1 tabletop) | 24 | 24/24 |
| RoboCasa | robosuite 1.5.1 / MuJoCo 3.2.6 (RoboCasa v0.2) | 29 | 29/29 |
| RoboCasa365 | robosuite 1.5.2 / MuJoCo 3.3.1 (RoboCasa365) | 50 | 50/50 |
| RoboLab | Isaac Lab 2.3.2 / Isaac Sim 5.1 (NVIDIA) | 120 | 0/120 |
| RoboPaint | ManiSkill 3.0.1 / SAPIEN 3.0.3 + Spline-FRIDA stroke model | 82 + 9 excluded | 0/82 |
| RoboTwin 2.0 | SAPIEN 3 (PhysX) + CuRobo | 50 | 50/50 |
| RoboWits | Genesis 0.4.7 (gs_gym) | 29 + 1 excluded | 0/29 |
| VLABench | MuJoCo 3.2.2 + dm_control 1.0.22 (VLABench) | 36 | 36/36 |
| Each benchmark has the same three pages: | | | |
| Page | Contents |
| Tasks | Every task as a row with its demo playable in place — the landing page |
| Triage board | Keep/drop decisions and what is still open |
| Capability coverage | What the suite exercises, and the thin spots |
Adding another benchmark is a YAML file plus task pages; every view picks it up automatically. See Adding a benchmark.