arxivcs.RO2026-06-30
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi, Daniel Lam, Junhong Xu, Roberto Martín-Martín
While robotic manipulation capabilities have advanced rapidly, physical safety remains a major barrier to deploying household robots: task success is insufficient if the robot damages itself or its surroundings. Simulation offers a harm-free alternative to costly and dangerous re…