cff-version: 1.2.0
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