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RoboCasa-Shift: A Stage-Aware Robustness Evaluation Benchmark for VLA Policies in Long-Horizon Household Manipulation

The paper proposes RoboCasa-Shift, a diagnostic robustness benchmark built on RoboCasa365 that combines controlled single-factor perturbations, paired clean-perturbed rollouts, and simulator-grounded stage-aware diagnostics, completing a total of 1,040 rollouts evaluating GR00T N1.5 across four long-horizon tasks, four perturbation factors, and three severity levels.

Part of the event: Release of RoboCasa-Shift: A Phase-Aware Robustness Benchmark

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