| Maniskill | arm, dex hand, locomotion | SAPIEN | RL policy | NeurIPS D&B 2021 |
| GAPartNet | arm (articulated objects) | IsaacGym / Isaac Sim | motion planned policy | CVPR 2023 |
| PartManip | arm (articulated objects) | IsaacGym | RL policy | CVPR 2023 |
| ARNOLD | arm (continuous, fluid) | Isaac Sim | motion planned policy | ICCV 2023 |
| Open6DOR | arm (pick & place) | IsaacGym | motion planned policy | IROS 2024 |
| COLOSSEUM | arm (generalization) | PyRep | scripted policy | RSS 2024 |
| RoboHive | arm, dex hand, locomotion, myo, deformable | Real + MuJoCo | teleoperation, scripted policy, trained expert policy | NeurIPS D&B 2023 |
| Orbit | rigid/deformable object manipulation, locomotion, in-hand manipulation | Isaac Sim | teleoperation, scripted policy, RL policy | RAL 2023 |
| CALVIN | arm | PyBullet | teleoperation | RAL 2022 Best Paper |
| RoboTurk | block lifting, bin picking, Nut-and-peg Assembly | MuJoCo | teleoperation using RoboTurk system | CoRL 2018 |
| RoboMimic | arm | MuJoCo | RL + teleoperation (also using RoboTurk, with varying human proficiency) | CoRL 2022 |
| Meta-World | arm | MuJoCo | RL trained policy | CoRL 2020 |
| Franka Kitchen | arm | MuJoCo | teleoperation | CoRL 2020 |
| RoboCasa | arm, quadruped, humanoid | MuJoCo | human teleoperation + MimicGen augmentation | RSS 2024 |
| LIBERO | arm (lifelong learning) | MuJoCo | teleoperation | NeurIPS D&B 2023 |
| Ravens | top-down pick & place | PyBullet | scripted policy | CoRL 2021 |
| VIMA-Bench | top-down pick & place (multimodal) | PyBullet | scripted policy | ICML 2023 |
| Furniture-Bench | furniture assembly | Real / IsaacGym + Factory | teleoperation | RSS 2023 |
| IsaacGym-Bench | locomotion, humanoid animation, franka cube stacking, dex hand | IsaacGym | RL policy | NeurIPS D&B 2021 |
| SoftGym | deformable object manipulation | PyFlex | RL policy | CoRL 2021 |