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message: "If you use RecoverBench, please cite the paper below. Please also credit MimicGen (see THIRD_PARTY_NOTICES.md)."
title: "RecoverBench: A Systematic Benchmark for Error Recovery in Robotic Manipulation"
abstract: "RecoverBench evaluates how manipulation policies recover from standardized, reproducible post-error simulator states. It provides a taxonomy of 12 Error Skills (24 subtypes at two degrees, grouped into 5 Recovery Behavior Groups), 1,360 evaluation error scenes over six robosuite/MuJoCo tasks, a separate training scene pool, and a corpus of 10,598 recovery trajectories."
version: 1.1.0
# TODO(authors): add date-released when release v1.1.0 is uploaded.
license: MIT # exceptions: see THIRD_PARTY_NOTICES.md (NVIDIA Source Code License components; CC BY 4.0 source demonstrations)
repository-code: "https://github.com/ErrorRecoveryBenchmark/ErrorRecoveryBenchmark"
repository: "https://huggingface.co/datasets/ErrorRecovery/ErrorRecoveryBenchmark"
url: "https://github.com/ErrorRecoveryBenchmark/ErrorRecoveryBenchmark"
keywords:
- robotics
- manipulation
- error recovery
- benchmark
- imitation learning
- MuJoCo
- robosuite
authors:
- family-names: Tang
given-names: Zijia
affiliation: "Duke University"
- family-names: Zhao
given-names: Ganlong
affiliation: "The Chinese University of Hong Kong; Centre for Perceptual and Interactive Intelligence"
- family-names: Chen
given-names: Xingping
affiliation: "Sun Yat-sen University"
- family-names: Chen
given-names: Junye
affiliation: "Sun Yat-sen University"
- family-names: Mo
given-names: Zihao
affiliation: "Sun Yat-sen University"
- family-names: Wang
given-names: Zedi
affiliation: "Sun Yat-sen University"
- family-names: Li
given-names: Guanbin
affiliation: "Sun Yat-sen University; Shenzhen Loop Area Institute; Guangdong Key Laboratory of Big Data Analysis and Processing"
preferred-citation:
type: conference-paper
title: "RecoverBench: A Systematic Benchmark for Error Recovery in Robotic Manipulation"
collection-title: "Advances in Neural Information Processing Systems (NeurIPS 2026), Evaluations and Datasets Track"
year: 2026
authors:
- family-names: Tang
given-names: Zijia
- family-names: Zhao
given-names: Ganlong
- family-names: Chen
given-names: Xingping
- family-names: Chen
given-names: Junye
- family-names: Mo
given-names: Zihao
- family-names: Wang
given-names: Zedi
- family-names: Li
given-names: Guanbin
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