{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T18:53:07Z","timestamp":1776279187485,"version":"3.50.1"},"reference-count":85,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"113","funder":[{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2026,4,15]]},"abstract":"<jats:p>Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. Although these models have garnered considerable enthusiasm and investment, meaningful evaluation of real-world performance remains a challenge, limiting the pace of development and inhibiting a nuanced understanding of current capabilities. Here, we rigorously evaluated multitask robot manipulation policies, referred to as large behavior models, by extending the diffusion policy paradigm across a corpus of simulated and real-world robot data. We proposed and validated an evaluation pipeline to rigorously analyze the capabilities of these models with statistical confidence. We compared against single-task baselines through blind, randomized trials in a controlled setting, using both simulation and real-world experiments. We found that multitask pretraining made the policies more successful and robust and enabled teaching complex new tasks more quickly, using a fraction of the data when compared with single-task baselines. Moreover, performance predictably increased as pretraining scale and diversity grows.<\/jats:p>","DOI":"10.1126\/scirobotics.aea6201","type":"journal-article","created":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T17:58:12Z","timestamp":1776275892000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":0,"title":["A careful examination of large behavior models for multitask dexterous manipulation"],"prefix":"10.1126","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6558-8656","authenticated-orcid":true,"given":"Jose","family":"Barreiros","sequence":"first","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-4781-1910","authenticated-orcid":true,"given":"Andrew","family":"Beaulieu","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-3026-1017","authenticated-orcid":true,"given":"Aditya","family":"Bhat","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-8238-7660","authenticated-orcid":true,"given":"Rick","family":"Cory","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5056-8046","authenticated-orcid":true,"given":"Eric","family":"Cousineau","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6131-3620","authenticated-orcid":true,"given":"Hongkai","family":"Dai","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-4285-7970","authenticated-orcid":true,"given":"Ching-Hsin","family":"Fang","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-1280-054X","authenticated-orcid":true,"given":"Kunimatsu","family":"Hashimoto","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1955-6194","authenticated-orcid":true,"given":"Muhammad Zubair","family":"Irshad","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-7250-5305","authenticated-orcid":true,"given":"Masha","family":"Itkina","sequence":"additional","affiliation":[{"name":"Toyota Research Institute, Cambridge, MA 02139, 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