RESEARCH PAPERYear 2026

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

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TRI LBM Team; Jose Barreiros; Andrew Beaulieu; Aditya Bhat; Rick Cory; Eric Cousineau; Hongkai Dai; Ching-Hsin Fang; Kunimatsu Hashimoto; Muhammad Zubair Irshad; Masha Itkina; Naveen Kuppuswamy; Kuan-Hui Lee; Katherine Liu; Dale McConachie; Ian McMahon; Haruki Nishimura; Calder Phillips-Grafflin; Charles Richter; Paarth Shah; Krishnan Srinivasan; Blake Wulfe; Chen Xu; Mengchao Zhang; Alex Alspach; Maya Angeles; Kushal Arora; Vitor Campagnolo Guizilini; Alejandro Castro; Dian Chen; Ting-Sheng Chu; Sam Creasey; Sean Curtis; Richard Denitto; Emma Dixon; Eric Dusel; Matthew Ferreira; Aimee Goncalves; Grant Gould; Damrong Guoy; Swati Gupta; Xuchen Han; Kyle Hatch; Brendan Hathaway; Allison Henry; Hillel Hochsztein; Phoebe Horgan; Shun Iwase; Donovon Jackson; Siddharth Karamcheti; Sedrick Keh; Joseph Masterjohn; Jean Mercat; Patrick Miller; Paul Mitiguy; Tony Nguyen; Jeremy Nimmer; Yuki Noguchi; Reko Ong; Aykut Onol; Owen Pfannenstiehl; Richard Poyner; Leticia Priebe Mendes Rocha; Gordon Richardson; Christopher Rodriguez; Derick Seale; Michael Sherman; Mariah Smith-Jones; David Tago; Pavel Tokmakov; Matthew Tran; Basile Van Hoorick; Igor Vasiljevic; Sergey Zakharov; Mark Zolotas; Rares Ambrus; Kerri Fetzer-Borelli; Benjamin Burchfiel; Hadas Kress-Gazit; Siyuan Feng; Stacie Ford; Russ Tedrake

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Major category: VLA
Quadrant: Not applicable
Architecture: Not applicable
Prediction paradigm: Not applicable
Subcategories: Diffusion & flow-matching VLA
Source review status: Verified from primary sources

Category review. The LBM model directly denoises robot action chunks conditioned on camera observations and CLIP-encoded task language. It is a vision-language-action policy with a controlled evaluation, not a learned future-state WAM or a general foundational algorithm. Reading evidence

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@article{LBM,
  title={A careful examination of large behavior models for multitask dexterous manipulation},
  author={Barreiros, Jose and Beaulieu, Andrew and Bhat, Aditya and Cory, Rick and Cousineau, Eric and Dai, Hongkai and Fang, Ching-Hsin and Hashimoto, Kunimatsu and Irshad, Muhammad Zubair and Itkina, Masha and others},
  journal={Science Robotics},
  volume={11},
  number={113},
  year={2026},
}

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