GRUtopia

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Isaac Sim platform of large interactive scenes with LLM-driven characters; its benchmark tests legged robots navigating and fetching objects.1

Sources
Last checked 10 Oct 2026Basic entry14 of 19 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Navigation
Robot
Humanoid, Legged, Arm on wheels2
Licence
Unclear3

Comparisons with real robots

Claimed, not measured2

Details

Appendix E: the LLM-agent baseline was demonstrated on a real Unitree H1 for object loco-navigation, using the same locomotion policy as in simulation; described as 'smoothly transferred', no numbers, video promised later. No paired sim/real measurements found.

Details

About

What it is
Simulator Inferred1
More

Classified by the Atlas from how the authors describe and distribute it.

Built by
22 authors, all with OpenRobotLab, Shanghai AI Laboratory; co-affiliations include Nanjing University, The Chinese University of Hong Kong, Xidian University, Shanghai Jiao Tong University and Tsinghua University2
Released
2024-07 (arXiv v1 2024-07-15; README news: paper and demos released 2024-07)1
Version
InternUtopia v2.2.1; GitHub URL OpenRobotLab/GRUtopia now resolves to InternRobotics/InternUtopia4
Last update
v2.2.1 (2025-09-04) bug fixes; v2.2.0 (2025-07-25): multi-episode, vector env, multi-GPU, Isaac Sim 4.5.0, packages renamed grutopia.* -> internutopia.*5
Status
superseded as a named benchmark; platform renamed InternUtopia and dormant since 2025-09 Inferred6
More

From release dates and README pointers to InternNav/InternManip; InternNav guide names only VL-LN Bench as an extended benchmark.

Setup

Runs in
Simulation2
Robot
Humanoid, Legged, Arm on wheels2
Setting
Whole home, Mixed2

Scoring and access

Scored by
Success rate, Path efficiency, Progress score2
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Sec. 4.1 states success as 'target in field of view' without the 3 m rule; Sec. 4.3 adds it.

Leaderboard
None. Scores are only in papers.7
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InternNav user guide does not mention GRBench (checked 2026-10-10).

Code licence
MIT ('Copyright (c) Intern Robotics, Shanghai AI Laboratory')3
Data licence
CC-BY-NC-SA-4.0 (GRScenes dataset card); README requires a user agreement form before GRScenes-100 access8
Commercial use
allowed for code; non-commercial for scenes Inferred8
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Not legal advice.

Published at
arXiv preprint only (README BibTeX booktitle 'arXiv'); no venue on arXiv page7
More

Semantic Scholar also lists arXiv.org.

Sources 8

  1. 1GRUtopia: Dream General Robots in a City at ScaleOfficial site · Jul 2024 · checked 10 Oct 2026
  2. 2GRUtopia: Dream General Robots in a City at Scale (full text)Official site · Jul 2024 · checked 10 Oct 2026
  3. 3InternRobotics/InternUtopia on GitHub (license)Official site · checked 10 Oct 2026
  4. 4InternRobotics/InternUtopia on GitHub (repository)Repository · checked 10 Oct 2026
  5. 5InternRobotics/InternUtopia on GitHub (releases)Repository · checked 10 Oct 2026
  6. 6InternNav — Intern Robotics Documentation v0.0.1 documentationOfficial site · checked 10 Oct 2026
  7. 7InternRobotics/InternUtopia on GitHub (readme)Repository · checked 10 Oct 2026
  8. 8InternRobotics/GRScenes on Hugging Face (dataset)Official site · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).