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RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Physical-condition diversity is largely missing from current benchmarks for robot manipulation. While large-scale simulation benchmarks increasingly incorporate variations in object appearance, scene layout, and visual observations, they typically keep the underlying physical parameters fixed. As a result, important sources of real-world variability, such as changes in mass, friction, and joint dynamics, remain largely untested. We introduce RoboTwin-Phys, a physics-diverse benchmark that treats physical-condition diversity as an explicit dimension of robot manipulation evaluation. The benchma

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