EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies

This repository contains assets and configurations associated with EBench, a simulation benchmark designed to diagnose generalist mobile manipulation policies beyond a single success-rate scalar.

• Paper: EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies
• Project Page: internrobotics.github.io/EBench-home/
• Repository: GitHub - InternRobotics/EBench
• Documentation: EBench Docs

Introduction

EBench is an indoor VLA manipulation benchmark built on NVIDIA Isaac Sim. Instead of compressing a model's behavior into a single overall success rate, it produces a multi-axis capability profile that exposes what a model is good at — and where it overfits.

It covers 26 diverse task types across long-horizon, pick-and-place, and precise/dexterous manipulation, helping to diagnose the strengths and weaknesses of generalist policies.

Citation

@misc{ebench2026,
 title = {EBench: Elemental Mobile Manipulation Benchmark},
 author = {Shanghai AI Laboratory},
 year = {2026},
 note = {Preprint coming soon},
 url = {https://internrobotics.github.io/EBench-doc/}
}