RoboCasa365

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Kitchen simulation benchmark with 365 tasks in 2,500 scenes; its leaderboard ranks policies on 50 target tasks.1

Sources
Last checked 10 Oct 2026Basic entry20 of 25 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation1
Checked against real robots
Not checked
Skill
Household tasks
Robot
Arm on wheels1
Used by
1122
citations
Licence
MIT3
Commercial use: allowed

Comparisons with real robots

Tried on real robots, not compared1

Details

Training-data evidence only: GR00T N1.5 mid-trained on 150 sim tasks then co-fine-tuned with 140 real demos reached 79.8% average real success vs 61.8% real-only (4 kitchen tasks, 20 trials each, DROID Panda; by the authors). No study pairing RoboCasa365 sim scores with real scores for several policies found.

Known problems 2

  1. Top entry's submission says it is 'a full fine-tune of xiaomi-robotics-1' with paper_link

    Our reading of the submission JSON against the README rules; the organisers may have accepted it under the 'new recipe' clause. Inferred4

  2. V1.0.1 lengthened horizons 1.5x; gr00t n1.5 re-evaluated (leaderboard 23.9 vs docs table 2

    Docs table: https://raw.githubusercontent.com/robocasa/robocasa/main/docs/benchmarking/multitask_learning.md.5

Details

About

What it is
Benchmark Inferred6
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Classified by the Atlas from how the authors describe and distribute it.

Built by
The University of Texas at Austin; NVIDIA Research1
Released
2026-027
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GitHub release v1.0 (RoboCasa365) 2026-02-18; arXiv v1 2026-03-04.

Version
1.0.18
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setup.py and robocasa/__init__.py; no GitHub release object for 1.0.1.

Last update
v1.0.1 (2026-05-12): all task horizons increased 1.5x; 2026-07-07: per-frame subtask annotations for target composite datasets; leaderboard updated 2026-10-109
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README 'Updates'; leaderboard page header.

Status
Active Inferred5
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Leaderboard updated 2026-10-10; commits 2026-09.

Setup

Runs in
Simulation1
Robot
Arm on wheels1
More

Franka Panda with Omron mobile base for data collection; framework 'in principle' supports other mobile manipulators and humanoids.

Setting
Kitchen1
Size
365 tasks (65 atomic, 300 composite); 2,500 pretraining kitchens + 10 target kitchens; 3,200+ objects; 30k human pretraining demos; 10k MimicGen demos per task for 60 atomic tasks; 25k target demos1

Scoring and access

Scored by
Success rate5
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Weighting inferred: Axiom-0 (86.5*18 + 59.4*16 + 35.8*16)/50 = 61.6, matching the page.

Trials
Conflict: 30 trials per task (paper App. G.2) vs 50 sampled scenarios per task (docs benchmarking overview)10
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Paper: https://arxiv.org/pdf/2603.04356.

Who runs it
both: self-submitted JSON via pull request; RoboCasa team verifies (up to 10 days); closed models must give the team private access to checkpoint and eval code11
Leaderboard
Official leaderboard5
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Published 2026-04-06 (README). 16 models shown 2026-10-10; submissions folder holds 19 JSON files (our count).

Code licence
MIT3
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Copyright (c) 2026 the RoboCasa Team.

Data licence
CC BY 4.0 (assets and datasets)9
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Hugging Face robocasa/robocasa-assets card: cc-by-4.0.

Commercial use
Allowed Inferred9
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Upstream Objaverse object terms not checked. Not legal advice.

Sources 11

  1. 1RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist RobotsPaper · Mar 2026 · checked 10 Oct 2026
  2. 2Semantic Scholar API recordIndex · checked 10 Oct 2026
  3. 3robocasa/robocasa on GitHub (main)Repository · checked 10 Oct 2026
  4. 4robocasa-benchmark/leaderboard on GitHub (file Axiom-0_2026_10_01.json)Leaderboard · checked 10 Oct 2026
  5. 5RoboCasa LeaderboardLeaderboard · checked 10 Oct 2026
  6. 6RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist RobotsPaper · Mar 2026 · checked 10 Oct 2026
  7. 7robocasa/robocasa on GitHub (releases)Repository · checked 10 Oct 2026
  8. 8robocasa/robocasa on GitHub (file setup.py)Repository · checked 10 Oct 2026
  9. 9robocasa/robocasa on GitHub (file README.md)Repository · checked 10 Oct 2026
  10. 10robocasa/robocasa on GitHub (file benchmarking_overview.md)Repository · checked 10 Oct 2026
  11. 11robocasa-benchmark/leaderboard on GitHub (repository)Leaderboard · checked 10 Oct 2026

Change history

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