arXiv:2608.18618cs.RO2026-08

构建实验室灵巧操作的分级基准,推动机器人自主实验发展。

LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories

论文配图:LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
图 1 · 摘自论文原文
  • 设计三级任务体系:基础操作、组合技能与长时实验流程。
  • 涵盖真实世界与仿真环境,统一任务定义与评估标准。
  • 支持多层级评估,适合研究机器人灵巧操作与实验自动化。

自主实验室有望加速科学发现。实现这一愿景需机器人具备灵巧操作多种实验器材和执行多阶段状态依赖实验流程的能力。然而现有基准未能同时涵盖灵巧手部操作、真实实验室交互和长时实验流程,限制了系统性训练与评估。为此,我们提出LabDex,一个大规模真实世界数据集与基准,用于化学实验室中的灵巧操作,其基于层级任务分类法,涵盖原子技能、组合任务与长时实验流程。首先,LabDex跨平台,首次在统一框架下整合真实世界与仿真环境,提供标准化任务定义、示范与评估协议。其次,它大规模系统化组织化学实验操作为三个相互关联层级:原子技能(表征基础灵巧操作能力)、组合技能与长时实验室工作流。该层级设计不仅支持端到端任务性能评估,还允许分析基础技能如何组合并影响复杂实验操作。我们在真实世界与仿真环境中对代表性机器人学习方法进行跨层级评估。实验结果验证了LabDex任务设计与示范数据的有效性,表明该基准可支持现有机器人策略在不同层次实验室灵巧操作任务上的训练与系统评估,为自主实验室机器人的进一步研究与发展奠定基础。

原文摘要 · Abstract (English)

Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instruments and execute long-horizon, state-dependent experimental procedures. Yet existing benchmarks do not jointly capture dexterous hand use, real-world laboratory interactions, and multi-stage experimental procedures, limiting systematic training and evaluation. To bridge this gap, we introduce LabDex, a large-scale real-world dataset and benchmark for dexterous manipulation in chemistry laboratories, organized around a hierarchical task taxonomy spanning atomic skills, compositional tasks, and long-horizon experiments. First, LabDex is cross-platform and, for the first time, unifies real-world and simulation platforms under a common framework, providing standardized task definitions, demonstrations, and evaluation protocols. Second, LabDex is large-scale and systematically organizes chemistry laboratory operations into three interconnected levels: Atomic Skills, which characterize fundamental dexterous manipulation capabilities; Compositional Skills; and Long-Horizon Laboratory Workflows. This hierarchical design not only supports the evaluation of end-task performance, but also enables the analysis of how fundamental dexterous skills compose and influence more complex laboratory operations. We conduct cross-level evaluations of representative robot learning methods in both real-world and simulation environments. The experimental results validate the effectiveness of the LabDex task design and demonstration data, and show that the benchmark supports the training and systematic evaluation of existing robotic policies across laboratory dexterous manipulation tasks at different levels, providing a foundation for further research and development of autonomous laboratory robots.

灵巧操作实验室自动化基准测试机器人学习

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