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arXiv · 2512.00287

RealAppliance: Let High-fidelity Appliance Assets Controllable and Workable as Aligned Real Manuals

Yuzheng Gao·Yuxing Long·Lei Kang·Yuchong Guo·Ziyan Yu·Shangqing Mao·Jiyao Zhang·Ruihai Wu·Dongjiang Li·Hui Shen·Hao Dong
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Abstract

Existing appliance assets suffer from poor rendering, incomplete mechanisms, and misalignment with manuals, leading to simulation-reality gaps that hinder appliance manipulation development. In this work, we introduce the RealAppliance dataset, comprising 100 high-fidelity appliances with complete physical, electronic mechanisms, and program logic aligned with their manuals. Based on these assets, we propose the RealAppliance-Bench benchmark, which evaluates multimodal large language models and embodied manipulation planning models across key tasks in appliance manipulation planning: manual page retrieval, appliance part grounding, open-loop manipulation planning, and closed-loop planning adjustment. Our analysis of model performances on RealAppliance-Bench provides insights for advancing appliance manipulation research

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Yuzheng Gao, Yuxing Long, Lei Kang, Yuchong Guo, Ziyan Yu, Shangqing Mao, Jiyao Zhang, Ruihai Wu, Dongjiang Li, Hui Shen, Hao Dong. 2025-11-29. RealAppliance: Let High-fidelity Appliance Assets Controllable and Workable as Aligned Real Manuals. https://arxiv.org/abs/2512.00287

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