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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/wcng9shn848kk3r62pwicmder
- Original: https://arxiv.org/abs/2610.27861

## Summary

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.