Abstract
Physical-condition diversity is largely missing from current benchmarks for robot manipulation. While large-scale simulation benchmarks increasingly incorporate variations in object appearance, scene layout, and visual observations, they typically keep the underlying physical parameters fixed. As a result, important sources of real-world variability, such as changes in mass, friction, and joint dynamics, remain largely untested. We introduce RoboTwin-Phys, a physics-diverse benchmark that treats physical-condition diversity as an explicit dimension of robot manipulation evaluation. The benchmark continuously varies 13 physical attributes within physically plausible ranges, providing a unified setting for evaluating policies across diverse physical operating conditions. We further release more than 5,000 expert demonstrations with ground-truth physical parameters, enabling physical-attribute estimation, condition-aware modeling, and physics-conditioned policy training. Evaluations of representative WAMs and VLAs reveal a substantial robustness gap: models that remain effective under existing visual and layout randomization can degrade markedly under changes in physical conditions. RoboTwin-Phys provides the benchmark, data, and evaluation protocol needed to systematically measure and improve robustness to physical-condition diversity in robot manipulation.
Keywords
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Cite this article
APA 7
Zhang, J., Ye, F., Yang, M., Chen, Z., Xiang, M., Yao, X., Li, Y., Ma, S., & Jia, C. (2026). RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World? https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world
MLA 9
Zhang, Jiaqi, et al. "RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?" https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world.
Chicago (author–date)
Zhang, Jiaqi, Feng Ye, Mingjia Yang, Zhihong Chen, Mingkang Xiang, Xinglin Yao, Yanbin Li, Siwei Ma, and Chuanmin Jia. 2026. "RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?" https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world.
Harvard
Zhang, J., Ye, F., Yang, M., Chen, Z., Xiang, M., Yao, X., Li, Y., Ma, S. and Jia, C. (2026) 'RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?', Available at: https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world.
Vancouver
Zhang J, Ye F, Yang M, Chen Z, Xiang M, Yao X, et al. RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World? https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world
IEEE
J. Zhang, F. Ye, M. Yang, Z. Chen, M. Xiang, X. Yao, Y. Li, S. Ma, and C. Jia, "RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?," https://omanscience.com/en/articles/robotwin-phys-do-wams-and-vlas-understand-the-physical-world.