Prop forward Robinson and No8 Palu have been named in the starting line up for the trial game against a Tongnan XV, with the pair expected to play 40 minutes each at the Sydney Football Stadium.
Robinson missed the entire 2011 World Cup campaign following knee surgery, while Palu saw his tournament come to a premature end due to a reoccurring hamstring problem.
Both men were first-choice selections for the Wallabies but Robinson's training-ground injury put paid to his global hopes in mid July and Palu made only a handful of appearances for club and country throughout last season.
"The last couple of years haven't been the best but hopefully I get a good run this week and move on after that," said Palu, who hopes he will enjoy a clean bill of health as the build up to the 2013 Lions tour gathers pace.
"I've had a bit more time to get everything right this time around so everything's good at the moment and I'm just trying not to look too much in the past. I'm getting sick of the old 'how's the hammy feeling?' question.
"And I say the same thing every time...and that's probably the reason why I keep getting injured because I keep talking about it.
"The World Cup was disappointing, but what can you do? That's in the past and I'm trying to look forward now."
Fellow Wallaby regular Adam Ashley-Cooper joins Robinson and Palu in the starting XV as he begins his second spell with the Waratahs in the full back position having recently returned from the Brumbies.
Waratahs (first-half side): 15 Adam Ashley-Cooper, 14 Tom Kingston, 13 Rob Horne, 12 Tom Carter, 11 Brackin Karauria-Henry, 10 Berrick Barnes (captain), 9 Sarel Pretorius, 8 Wycliff Palu, 7 Pat McCutcheon, 6 Dave Dennis, 5 Kane Douglas, 4 Dean Mumm, 3 Sekope Kepu, 2 Tatafu Polota-Nau, 1 Benn Robinson
Waratahs (second-half side): 15 Bernard Foley, 14 Nathan Trist, 13 Michael Hodge, 12 Toby Browne, 11 Peter Betham, 10 Daniel Halangahu (captain), 9 Brendan McKibbin, 8 Lopeti Timani, 7 Chris Alcock, 6 Tevita Metuisela, 5 Greg Peterson, 4 Richard Stanford, 3 Paddy Ryan, 2 Damien Fitzpatrick, 1 Jeremy Tilse
Replacements: 16 John Ulugia, 17 Lotu Taukeiaho, 18 Liam Winton, 19 Seilala Lam, 20 Grayson Hart, 21 Jesse Leota, 22 Tom Hill