Benchmarking Robots for Everyday Environments: From Lab Experiments to Real-World Operations

Raphael Memmesheimer; Martina Overbeck; Dominik Beyer; Björn Kral; Sabine Bellmann; Sven Schneider; Jan Zimmermann; Anna-Maria Meer; Medina Klicic; Simone Roth; Carolin Straßmann; Alexander Arntz; Marlene Wessels; Johannes Kraus; Paul Schweidler; Tristan Schnell; Christoph Zimmermann; Benedikt Pulver; Wilhelm Stork; Martin Gersch; Sven Behnke; Arne Rönnau

arXiv · 2609.26490

Benchmarking Robots for Everyday Environments: From Lab Experiments to Real-World Operations

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Abstract

This study introduces an interdisciplinary framework for benchmarking robots deployed in public environments, addressing the gap between traditional laboratory metrics and real-world benchmarking requirements. We evaluate three distinct robots across diverse use cases - outdoor park cleaning, pedestrian underpass cleaning, and interactive library assistance - each representing unique challenges in public daily life. Over a three-year benchmarking process (2023-2025) comprising seven benchmarking events, a consensus workshop and six on-site evaluations (two per use case), we utilized realistic indoor and outdoor test environments to assess not only technical performance but also the broader implications of deploying robots in unstructured, human-centric settings. An expert panel, spanning robotics, human-robot interaction, safety, and economics, systematically developed and refined an evaluation concept to analyze the transition from laboratory prototypes to operational systems. Our findings highlight critical factors for successful deployment, including task fulfillment, interaction quality, safety, and economic feasibility. This work provides actionable insights for researchers and practitioners aiming to bridge the gap between robotic innovation and real-world applicability.

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Raphael Memmesheimer, Martina Overbeck, Dominik Beyer, Björn Kral, Sabine Bellmann, Sven Schneider, Jan Zimmermann, Anna-Maria Meer, Medina Klicic, Simone Roth, Carolin Straßmann, Alexander Arntz, Marlene Wessels, Johannes Kraus, Paul Schweidler, Tristan Schnell, Christoph Zimmermann, Benedikt Pulver, Wilhelm Stork, Martin Gersch, Sven Behnke, Arne Rönnau. 2026-09-22. Benchmarking Robots for Everyday Environments: From Lab Experiments to Real-World Operations. https://arxiv.org/abs/2609.26490

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