{"schemaVersion":"nuwa-current-record-1","version":"2026-10-29.1","publication":"published","work":{"id":"oopsieverse","title":"OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation","aliases":["oopsieverse"],"authors":["Arnav Balaji","Arpit Bahety","Sriniket Ambatipudi","Daniel Lam","Junhong Xu","Roberto Martín-Martín"],"primaryFunction":"evaluation","secondaryFunctions":[],"kind":"benchmark","sourceId":"dr-20261028-oopsieverse","attributionSourceId":"dr-20261028-oopsieverse","originalUrl":"https://arxiv.org/html/2606.31993","publicationDate":"2026-06-30","updatedOn":"2026-10-28","areas":["autonomous-physical-harm"],"scopeNote":{"en":"Selected original sections; local editorial review. Not an independently replicated experiment.","zh":"选读原始材料；本地编辑审阅稿，不是独立复现实验。"},"protocolIds":["oopsieverse"],"contributions":[],"summary":{"en":"Task completion must be reported alongside damage-aware outcomes.","zh":"DamageSim 将损伤信号纳入模拟评测，跨两种模拟环境展示安全策略和 sim-to-real 用途。"},"note":{"question":null,"method":null,"finding":null,"supports":null,"limits":null,"connections":null},"resources":[],"tags":[],"contentEditionId":"2026-10-28.1"},"reading":{"id":"oopsieverse","en":{"takeaway":"Task completion must be reported alongside damage-aware outcomes.","question":"Can a manipulation policy complete its task while damaging its environment?","design":"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.","findings":["The benchmark makes damage-aware outcomes visible alongside task completion and explores uses for safe policy training and sim-to-real evaluation."],"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":"Damage depends on simulator physics and thresholds. Simulation cost is neither human-harm probability nor complete coverage of real materials and contacts.","connections":[],"decisionRelevance":"NUWA recommendation: Assess calibration of each damage signal and report task completion separately from physical-cost proxies."},"zh":{"takeaway":"DamageSim 将损伤信号纳入模拟评测，跨两种模拟环境展示安全策略和 sim-to-real 用途。","question":"任务完成时是否损坏机器人或环境？","design":"DamageSim 在操作任务模拟中加入损伤信号，并在两种模拟环境中评估损伤感知策略。任务完成与损伤同时解释，而非只保留成功分数。","findings":["基准把损伤感知结果与任务完成并列，探索安全策略训练和仿真到真实的用途。没有在本批新增可与既有排行榜直接合并的数值单元。"],"interpretation":"成功的操作也可能不安全。损伤代理拓展了评测构念，但从仿真信号到真实损伤仍需校准证据。","limits":"损伤取决于物理模型和阈值；模拟成本不是人类伤害概率，不代表所有真实接触与材料。","connections":[],"decisionRelevance":"NUWA 建议：补充损伤代理与真实损伤之间的校准证据。"},"assertionPolicy":{"findings":"source-finding","interpretation":"nuwa-interpretation","decisionRelevance":"recommendation"},"observations":[],"relatedWorkIds":["asimov"],"supplementSourceId":"oopsieverse","batchId":"research-2026-10-28","sourceRefs":[{"sourceId":"dr-20261028-oopsieverse","url":"https://arxiv.org/html/2606.31993","title":"OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation","locator":"§§III–V; limitations; text lines 00029,00303,00307,00309","version":"Original resource captured 2026-10-28T07:24:43.858466+00:00; sha256:e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0","artifactSha256":"e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0","textSha256":"53f0774311c19af8e93ddf7a19e99fcab802a3966baac2e18161202599d14f9d","capturedAt":"2026-10-28T07:24:43.858466+00:00","resourceEdition":"arXiv:2606.31993v1 [cs.RO] 30 Jun 2026"}],"publication":{"state":"published","publishedOn":"2026-10-29","authorizationReference":"user-authorized-global-index-publication-2026-10-29","reviewedCandidateId":"local-6efe31bc4a0c0f37"},"review":{"state":"published-note","sourceScope":"full-text","availableScope":null,"readingCoverage":"selected-original-sections","completePaperAudit":false,"independentEvidenceReview":"pending-human-review","bilingualEditorialReview":"pending-human-review","authorship":"model-assisted-research-note","preparedFingerprint":"423906a8a4185803abd45b19386746a49e7a23bd241da0a3044fc5fb0722690b"}},"sources":[{"id":"dr-20261028-oopsieverse","title":"OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation","url":"https://arxiv.org/html/2606.31993","version":"arXiv:2606.31993v1; version header 30 Jun 2026; Original resource captured 2026-10-28T07:24:43.858466+00:00; sha256:e5c0c24c6eb494b5bef1612f1f6d5381aa9972a4aaa8937de7dcdb3e046a48d0","publicationDate":"2026-06-30","datePrecision":"day","type":"benchmark","verifiedOn":"2026-10-28","documentId":"https://arxiv.org/html/2606.31993","authors":["Arnav Balaji","Arpit Bahety","Sriniket Ambatipudi","Daniel Lam","Junhong Xu","Roberto Martín-Martín"]}]}