Risk Evaluation · Benchmark

OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation

NUWA research note · independent review pending

First published: 2026-06-30Source checked: 2026-10-28

Original source ↗Cite this record ↓Autonomous physical harm →

NUWA Research Note

Research question Design and assumptions Source findings NUWA interpretation Limits and contrary evidence Research and decision relevance Evidence update Institutions and roles Original resources

Model-assisted reading · Selected sections of the original full text or official article; a complete section-by-section audit remains pending.

At a glance

Task completion must be reported alongside damage-aware outcomes.

Research question

Can a manipulation policy complete its task while damaging its environment?

Design and assumptions

DamageSim adds damage signals to manipulation simulation and evaluates damage-aware policies in two simulation environments. Task completion and damage are interpreted jointly rather than reduced to success alone.

Source findings

The benchmark makes damage-aware outcomes visible alongside task completion and explores uses for safe policy training and sim-to-real evaluation.

NUWA interpretation

A successful manipulation can still be unsafe. Damage proxies broaden the construct, while transfer from simulated signals to real damage still needs calibration.

Limits and contrary evidence

Damage depends on simulator physics and thresholds. Simulation cost is neither human-harm probability nor complete coverage of real materials and contacts.

Research and decision relevance

NUWA recommendation: Assess calibration of each damage signal and report task completion separately from physical-cost proxies.

Precise source locations

OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation · §§III–V; limitations; text lines 00029,00303,00307,00309Original resource captured 2026-10-28T07:24:43.858466+00:00; sha256:e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0

Source checking, extraction, editorial approval and replication are recorded separately. Methodology →

Evidence update · 2026-10-28

Model-assisted reading · independent evidence and bilingual editorial review pending. Values are source findings or inventory counts, separate from the trend result series.

Institutions and roles

Affiliation not indexed in this review

Authors (6)

Arnav Balaji · Arpit Bahety · Sriniket Ambatipudi · Daniel Lam · Junhong Xu · Roberto Martín-Martín

Evaluation protocols

OopsieVerse →

Cite and reuse

Cite the original publication for its findings. Cite this NUWA record separately for its explanation and retained snapshot.

BibTeX ↓RIS ↓Record + source metadata · JSON ↓Reading coverage · JSON Suggest a correction

Original publication · BibTeX

@misc{oopsieverse,
  title = {OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation},
  url = {https://arxiv.org/html/2606.31993},
  author = {Arnav Balaji and Arpit Bahety and Sriniket Ambatipudi and Daniel Lam and Junhong Xu and Roberto Martín-Martín},
  year = {2026},
  date = {2026-06-30},
  version = {arXiv:2606.31993v1; version header 30 Jun 2026; Original resource captured 2026-10-28T07:24:43.858466+00:00; sha256:e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0},
  note = {arXiv:2606.31993v1; version header 30 Jun 2026; Original resource captured 2026-10-28T07:24:43.858466+00:00; sha256:e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0}
}

NUWA record · BibTeX

@misc{oopsieverse-nuwa,
  title = {OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation — NUWA research record},
  url = {https://whitzard.tech/en/nuwa/whitzard-index/work/oopsieverse/},
  version = {2026-10-29.1},
  organization = {NUWA Frontier AI Safety Lab},
  howpublished = {Retained note edition: https://whitzard.tech/nuwa/whitzard-index/data/record-editions/2026-10-29.1--oopsieverse.json},
  note = {NUWA research note. Source-reading scope and independent review status are stated on the record. Snapshot 2026-10-29.1. Retained note edition: https://whitzard.tech/nuwa/whitzard-index/data/record-editions/2026-10-29.1--oopsieverse.json.}
}

Evidence snapshot 2026-10-29.1 · Index updates · RSS

References

[1] Arnav Balaji, Arpit Bahety, et al.. OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation. 2026-06-30 ; §§III–V; limitations; text lines 00029,00303,00307,00309

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