This repository contains assets and configurations associated with EBench, a simulation benchmark designed to diagnose generalist mobile manipulation policies beyond a single success-rate scalar.

EBench is an indoor VLA manipulation benchmark built on NVIDIA Isaac Sim. Instead of compressing a model's behavior into a single overall success rate, it produces a multi-axis capability profile that exposes what a model is good at — and where it overfits.

It covers 26 diverse task types across long-horizon, pick-and-place, and precise/dexterous manipulation, helping to diagnose the strengths and weaknesses of generalist policies.