ArmnetBench v0.1: Parallel Real-World Evaluation of Manipulation Policies on a Low-Cost Arm Farm

Real-world evaluation is a bottleneck in developing generalist robot manipulation policies. Each rollout requires physical hardware and an operator to set up, reset, and score it. We introduce ArmnetBench v0.1, a benchmark run on a fleet of low-cost SO-101 cells under light on-site supervision. v0.1 validates this arm farm end to end and compares 7 policies across 12 tasks with both single-arm and bimanual configurations. Each policy is trained or fine-tuned on 50 demonstrations per task; the benchmark contains 2,518 policy rollouts and 600 reference demonstrations. All 3,118 episodes carry a three-way label (successful, suboptimal, or failure). Policy rollouts are human-scored, while demonstrations are successful by construction. Beyond evaluation, its quality-labelled trajectories support downstream learning, from reward and predictive world models to policies trained on mixed-quality data. The leaderboard is an initial comparison under this shared budget. We release the 3,118 core episodes in LeRobot v3.0 and RoboMeter formats.

SaGess: Sampling Graph Denoising Diffusion Model for Scalable Graph Generation

Over recent years, denoising diffusion generative models have come to be considered as state-of-the-art methods for synthetic data generation, especially in the case of generating images. These approaches have also proved successful in other applications such as tabular and graph data generation. However, due to computational complexity, to this date, the application of these techniques to graph data has been restricted to small graphs, such as those used in molecular modeling. In this paper, we propose SaGess, a discrete denoising diffusion approach, which is able to generate large real-world networks by augmenting a diffusion model (DiGress) with a generalized divide-and-conquer framework. The algorithm is capable of generating larger graphs by sampling a covering of subgraphs of the initial graph in order to train DiGress. SaGess then constructs a synthetic graph using the subgraphs that have been generated by DiGress. We evaluate the quality of the synthetic data sets against several competitor methods by comparing graph statistics between the original and synthetic samples, as well as evaluating the utility of the synthetic data set produced by using it to train a task-driven model, namely link prediction. In our experiments, SaGess, outperforms most of the one-shot state-of-the-art graph generating methods by a significant factor, both on the graph metrics and on the link prediction task.