Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory

Abstract

Laboratory automation has made remarkable progress through robotic platforms and AI-driven scientific reasoning. However, many laboratory operations (e.g., solid--solid transfer) remain inherently dynamic and require real-time adaptation to different materials and experimental conditions. Such precision-critical manipulations are difficult to standardize, motivating the use of humanoid robots with dexterous hands. Despite this opportunity, no existing benchmark evaluates humanoid manipulation in precision-critical laboratory environments. We present Labimus, to our knowledge, the first benchmark for humanoid dexterous manipulation in organic chemistry laboratories. Labimus reconstructs over 30 functionally faithful assets from real organic chemistry workstations through real-to-sim modeling, collectively covering the core operations of routine organic chemistry experiments. The benchmark integrates articulated laboratory instruments, particle-based powder physics, and closed-loop instrument readouts, enabling a complete manipulation-to-measurement pipeline. It further defines six atomic operations and a seven-step solid-weighing workflow derived from real laboratory standard operating procedures. We introduce a precision-aware evaluation protocol designed to jointly measure task completion, experimental precision, and long-horizon execution. We benchmark three representative policies under procedural layouts and environmental perturbations. Results reveal a precision gap: policies that successfully complete laboratory tasks can still fail to satisfy the quantitative tolerances required by experimental protocols. Our benchmark exposes a fundamental disconnect between task completion and experimental validity, providing a new testbed for developing reliable humanoid robots for scientific laboratories.