Credits

AM-Bench is a collaboration across Carnegie Mellon University, Pennsylvania State University, and Kyung Hee University.

Authors

  • Yutong Wang¹*
  • Dongjae Lee¹³*
  • Xiaofeng Guo¹*
  • Yuanzhu Zhan²
  • Yufei Jiang²
  • Bavin Saravanan¹
  • Muqing Cao¹
  • Jia Xie¹
  • Chenyang Mao¹
  • Sebastian Scherer¹
  • Junyi Geng²
  • Guanya Shi¹

¹ The Robotics Institute, School of Computer Science, Carnegie Mellon University
² Department of Aerospace Engineering, Pennsylvania State University
³ School of Mechanical Engineering, Kyung Hee University
* Equal contribution

Software foundations

AM-Bench is built as an Isaac Lab extension and uses Isaac Sim for simulation. Its maintained learning paths integrate LeRobot, ACT, Diffusion Policy through the UMI codebase, and OpenPI. The controller stack integrates Pyroki and acados for optional IK and MPC paths.

See Resources for project and dependency links, and Paper and Citation for the citation record.