EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies

Abstract:We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging manipulation tasks annotated along 5 capability dimensions and 4 generalization dimensions. We evaluate state-of-the-art generalist manipulation models including $\pi_0$, $\pi_{0.5}$, XVLA, and InternVLA-A1, and reveal that models with near success rates exhibit strikingly different capability profiles: $\pi_{0.5}$ achieves the highest test success rate and the best train--test retention, whereas InternVLA-A1 dominates mobile manipulation but collapses on dexterous tasks, and XVLA exhibits strengths on a disjoint set of atomic skills compared to other policies. Beyond capability profiling, EBench analyzes the generalization ability from 4 representative perspectives, identifying the impact of different distribution shift factors. The results reveal strengths and weaknesses of models behind an overall score. We hope this benchmark offers a broad set of diagnostic signals to guide iteration on generalist manipulation models.

Robotics (cs.RO)

arXiv:2606.18239 [cs.RO]

(or arXiv:2606.18239v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.18239 arXiv-issued DOI via DataCite (pending registration)