Apple introduces REVERSAL-BENCH, a benchmark that controls environmental reversibility via a continuous parameter and provides a reset oracle to test state recoverability across eight manipulation settings in five physics engines.

Evaluating various policy architectures reveals a sharp reversibility cliff: reset-free agents are consistently absorbed into irrecoverable states as reversibility increases, whereas episodic agents maintain steady learning.

The benchmark suite, a large multi-simulator dataset labeled with recoverability, and a reset oracle are released.