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AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Standardized benchmarks have played a central role in advancing robot manipulation learning, yet most focus on ground-supported manipulation systems, which limits their applicability to dynamics-critical domains such as aerial manipulation (AM). AM presents distinct system-level challenges, including environmental disturbances, coupled dynamics between the manipulator and floating base, and constrained degrees of freedom. Consequently, task performance depends jointly on robot embodiment, low-level control, and high-level policy design. We introduce AM-Bench, a modular simulation suite and ben

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