Preprint
Oct 2026
ManiUnit: A Manipulation Skill Dataset and Benchmark for Long-Horizon Tasks
ManiUnit is introduced, a manipulation skill dataset and benchmark built from 50 BEHAVIOR-1K activities that pairs each segment with an explicit subtask instruction; measures sensitivity to perturbations of the robot's starting base position or joint configuration; and defines local success conditions so that each skil...
Guo-Ting Wei, Da-Wei Yan, Xia Yuan et al.
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