Datasets:

INSAIT-Institute
/

LADDER-Offline-VLM-Benchmark

id string	benchmark string	scene string	instruction string	subtasks list	n_goals int32	ordered bool	family string	distractors list	objects list	revisits bool	image_wrist image
robolab/CompBin10Task	robolab_comp	CompBin10Task	put the banana, both oranges, the lemon, the lime, the avocado, the onion, the lychee, the pumpkin and the pomegranate in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in the grey ...	10	false	single_dest	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pomegranate", "pumpkin" ]	false
robolab/CompBin1Task	robolab_comp	CompBin1Task	put the banana in the bin.	[ "put the yellow banana in the grey bin." ]	1	false	single_dest	[]	[ "banana", "bin" ]	false
robolab/CompBin2DistractorTask	robolab_comp	CompBin2DistractorTask	put everything except the red block in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	false	distractor	[ "red_block" ]	[ "banana", "bin", "orange", "red_block" ]	false
robolab/CompBin2Task	robolab_comp	CompBin2Task	put the banana and the orange in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	false	single_dest	[]	[ "banana", "bin", "orange" ]	false
robolab/CompBin4DistractorTask	robolab_comp	CompBin4DistractorTask	put everything except the red block and the blue block in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin." ]	4	false	distractor	[ "red_block", "blue_block" ]	[ "banana", "bin", "blue_block", "lemon", "lime", "orange", "red_block" ]	false
robolab/CompBin6Task	robolab_comp	CompBin6Task	put the banana, the orange, the lemon, the lime, the avocado and the onion in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin." ]	6	false	single_dest	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange" ]	false
robolab/CompIdentical2Task	robolab_comp	CompIdentical2Task	put both oranges in the bin	[ "put the orange in the grey bin.", "put the orange in the grey bin." ]	2	false	identical	[]	[ "bin", "orange_1", "orange_2" ]	false
robolab/CompIdentical4Task	robolab_comp	CompIdentical4Task	put the four limes in the bin	[ "put the green lime in the grey bin.", "put the green lime in the grey bin.", "put the green lime in the grey bin.", "put the green lime in the grey bin." ]	4	false	identical	[]	[ "bin", "lime_1", "lime_2", "lime_3", "lime_4" ]	false
robolab/CompOrderedBin10Task	robolab_comp	CompOrderedBin10Task	first put the pumpkin in the bin, then put the onion in the bin, then put the lime in the bin, then put the avocado in the bin, then put the lemon in the bin, then put the pomegranate in the bin, then put the lychee in the bin, then put the banana in the bin, then put the orange in the bin, then put the orange in the b...	[ "put the orange pumpkin in the grey bin.", "put the red onion in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the yellow lemon in the grey bin.", "put the red pomegranate in the grey bin.", "put the lychee in the grey bin.", "put the yellow banana in ...	10	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pomegranate", "pumpkin" ]	false
robolab/CompOrderedBin2Task	robolab_comp	CompOrderedBin2Task	first put the banana in the bin, then put the orange in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	true	ordered	[]	[ "banana", "bin", "orange" ]	false
robolab/CompOrderedBin3Task	robolab_comp	CompOrderedBin3Task	first put the banana in the bin, then put the lemon in the bin, then put the orange in the bin	[ "put the yellow banana in the grey bin.", "put the yellow lemon in the grey bin.", "put the orange in the grey bin." ]	3	true	ordered	[]	[ "banana", "bin", "lemon", "orange" ]	false
robolab/CompOrderedBin4Task	robolab_comp	CompOrderedBin4Task	first put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin." ]	4	true	ordered	[]	[ "banana", "bin", "lemon", "lime", "orange" ]	false
robolab/CompOrderedBin5Task	robolab_comp	CompOrderedBin5Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin." ]	5	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange" ]	false
robolab/CompOrderedBin6Task	robolab_comp	CompOrderedBin6Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the onion in the bin, then put the banana in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the yellow banana in the grey bin." ]	6	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange" ]	false
robolab/CompOrderedBin7Task	robolab_comp	CompOrderedBin7Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the onion in the bin, then put the banana in the bin, then put the lychee in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the yellow banana in the grey bin.", "put the lychee in the grey bin." ]	7	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange" ]	false
robolab/CompOrderedBin8Task	robolab_comp	CompOrderedBin8Task	first put the orange in the bin, then put the pumpkin in the bin, then put the lychee in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin, then put the onion in the bin, then put the avocado in the bin	[ "put the orange in the grey bin.", "put the orange pumpkin in the grey bin.", "put the lychee in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the red onion in the grey bin.", "put the avocado in the grey ...	8	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "pumpkin" ]	false
robolab/CompOrderedBin9Task	robolab_comp	CompOrderedBin9Task	first put the onion in the bin, then put the orange in the bin, then put the pumpkin in the bin, then put the lychee in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin, then put the avocado in the bin, then put the orange in the bin	[ "put the red onion in the grey bin.", "put the orange in the grey bin.", "put the orange pumpkin in the grey bin.", "put the lychee in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the avocado in the grey ...	9	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pumpkin" ]	false
robolab/CompPlate1Task	robolab_comp	CompPlate1Task	put the banana on the plate.	[ "put the yellow banana on the white plate." ]	1	false	single_dest	[]	[ "banana", "plate" ]	false
robolab/CompRelay2Task	robolab_comp	CompRelay2Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin." ]	2	true	relay	[]	[ "bin", "lemon", "lime", "plate" ]	true
robolab/CompRelay3Task	robolab_comp	CompRelay3Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin." ]	3	true	relay	[]	[ "banana", "bin", "lemon", "lime", "plate" ]	true
robolab/CompRelay4Task	robolab_comp	CompRelay4Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin, then put the orange on the plate, then put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin.", "put the orange on the white plate.", "put the or...	4	true	relay	[]	[ "banana", "bin", "lemon", "lime", "orange", "plate" ]	true
robolab/CompRelay5Task	robolab_comp	CompRelay5Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin, then put the orange on the plate, then put the orange in the bin, then put the avocado on the plate, then put the avocado in th...	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin.", "put the orange on the white plate.", "put the or...	5	true	relay	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange", "plate" ]	true
robolab/CompRevisit1Task	robolab_comp	CompRevisit1Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin." ]	1	true	revisit	[]	[ "bin", "lemon", "plate" ]	true
robolab/CompRevisit2Task	robolab_comp	CompRevisit2Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin, then put the lime in the bin, then put the lime on the plate, then put the lime in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin." ]	2	true	revisit	[]	[ "bin", "lemon", "lime", "plate" ]	true
robolab/CompRevisit3Task	robolab_comp	CompRevisit3Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin, then put the lime in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana in the bin, then put the banana on the plate, then put the banana in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the yello...	3	true	revisit	[]	[ "banana", "bin", "lemon", "lime", "plate" ]	true
robolab/CompRoute10Task	robolab_comp	CompRoute10Task	put the banana, the lemon and the lime on the plate and put both oranges, the avocado, the onion, the lychee, the pumpkin and the pomegranate in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	10	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "plate", "pomegranate", "pumpkin" ]	false
robolab/CompRoute2BinfirstTask	robolab_comp	CompRoute2BinfirstTask	put the orange in the bin and put the lemon on the plate	[ "put the orange in the grey bin.", "put the yellow lemon on the white plate." ]	2	false	route	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompRoute2Task	robolab_comp	CompRoute2Task	put the lemon on the plate and put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the orange in the grey bin." ]	2	false	route	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompRoute3Task	robolab_comp	CompRoute3Task	put the lemon and the lime on the plate and put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin." ]	3	false	route	[]	[ "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute4Task	robolab_comp	CompRoute4Task	put the lemon and the lime on the plate and put the orange and the avocado in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin." ]	4	false	route	[]	[ "avocado", "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute5Task	robolab_comp	CompRoute5Task	put the lemon, the lime and the banana on the plate and put the orange and the avocado in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin." ]	5	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute6Task	robolab_comp	CompRoute6Task	put the lemon, the lime and the banana on the plate and put the orange, the avocado and the onion in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin." ]	6	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange", "plate" ]	false
robolab/CompRoute7Task	robolab_comp	CompRoute7Task	put the banana, the lemon and the lime on the plate and put the orange, the avocado, the onion and the lychee in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	7	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate" ]	false
robolab/CompRoute8Task	robolab_comp	CompRoute8Task	put the banana, the lemon and the lime on the plate and put the orange, the avocado, the onion, the lychee and the pumpkin in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	8	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate", "pumpkin" ]	false
robolab/CompRoute9Task	robolab_comp	CompRoute9Task	put the banana, the lemon and the lime on the plate and put both oranges, the avocado, the onion, the lychee and the pumpkin in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	9	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "plate", "pumpkin" ]	false
robolab/CompSplitPlate2Task	robolab_comp	CompSplitPlate2Task	put the avocado on the plate and put the orange in the bin	[ "put the avocado on the white plate.", "put the orange in the grey bin." ]	2	false	split_plate	[]	[ "avocado", "bin", "orange", "plate" ]	false
robolab/CompSplitPlate3Task	robolab_comp	CompSplitPlate3Task	put the avocado and the banana on the plate and put the orange in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin." ]	3	false	split_plate	[]	[ "avocado", "banana", "bin", "orange", "plate" ]	false
robolab/CompSplitPlate4Task	robolab_comp	CompSplitPlate4Task	put the avocado and the banana on the plate and put the orange and the lime in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin." ]	4	false	split_plate	[]	[ "avocado", "banana", "bin", "lime", "orange", "plate" ]	false
robolab/CompSplitPlate5Task	robolab_comp	CompSplitPlate5Task	put the avocado and the banana on the plate and put the orange, the onion and the lychee in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	5	false	split_plate	[]	[ "avocado", "banana", "bin", "lychee", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate6Task	robolab_comp	CompSplitPlate6Task	put the avocado, the banana and the lemon on the plate and put the orange, the lime and the onion in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin." ]	6	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate7Task	robolab_comp	CompSplitPlate7Task	put the avocado, the banana and the lemon on the plate and put the orange, the lime, the onion and the lychee in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	7	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate8Task	robolab_comp	CompSplitPlate8Task	put the avocado, the banana, the lemon and the lime on the plate and put the orange, the onion, the lychee and the pumpkin in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin ...	8	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate", "pumpkin" ]	false
robolab/CompTransfer2Task	robolab_comp	CompTransfer2Task	move the orange and the lemon from the plate to the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin." ]	2	false	transfer	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompTransfer3Task	robolab_comp	CompTransfer3Task	move the orange, the lemon and the lime from the plate to the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin." ]	3	false	transfer	[]	[ "bin", "lemon", "lime", "orange", "plate" ]	false
robotarena/scene36_1goal	robotarena_comp	scene36_1goal	put the fork in the pan.	[ "put the fork in the pan." ]	1	false	single_destination	[]	[ "toy fork_target", "toy pan" ]	false	Not supported with pagination yet
robotarena/scene36_2goal	robotarena_comp	scene36_2goal	put the fork and the corn cob in the pan	[ "put the fork in the pan.", "put the corn cob in the pan." ]	2	false	single_destination	[]	[ "toy corn cob", "toy fork_target", "toy pan" ]	false	Not supported with pagination yet
robotarena/scene45_1goal	robotarena_comp	scene45_1goal	put the blue bowl on the purple cloth.	[ "put the blue bowl on the purple cloth." ]	1	false	single_destination	[]	[ "blue bowl_target", "purple cloth" ]	false	Not supported with pagination yet
robotarena/scene45_2goal	robotarena_comp	scene45_2goal	put the blue bowl and the sushi toy on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_3goal	robotarena_comp	scene45_3goal	put the blue bowl, the sushi toy and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_4goal	robotarena_comp	scene45_4goal	put the blue bowl, the sushi toy, the cheese and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth." ]	4	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_5goal	robotarena_comp	scene45_5goal	put the blue bowl, the sushi toy, the cheese, the banana and the mushroom on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_6goal	robotarena_comp	scene45_6goal	put the blue bowl, the sushi toy, the cheese, the banana, the mushroom and the corn cob on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_2	robotarena_comp	scene45_all_2	put the blue bowl and the sushi toy on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_all_3	robotarena_comp	scene45_all_3	put the blue bowl, the sushi toy and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_4	robotarena_comp	scene45_all_4	put the blue bowl, the sushi toy, the banana and the cheese on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth." ]	4	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_5	robotarena_comp	scene45_all_5	put the blue bowl, the sushi toy, the banana, the cheese and the mushroom on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_6	robotarena_comp	scene45_all_6	put the blue bowl, the sushi toy, the banana, the cheese, the mushroom and the corn cob on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_2	robotarena_comp	scene45_except_2	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	exclusion	[ "small can" ]	[ "blue bowl_target", "purple cloth", "small can", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_except_3	robotarena_comp	scene45_except_3	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	exclusion	[ "small can" ]	[ "blue bowl_target", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_4	robotarena_comp	scene45_except_4	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth." ]	4	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_5	robotarena_comp	scene45_except_5	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_6	robotarena_comp	scene45_except_6	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "small can", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene50_3goal	robotarena_comp	scene50_3goal	put the stuffed animal, the blue block and the cheese in the pot	[ "put the stuffed animal in the pot.", "put the blue block in the pot.", "put the cheese in the pot." ]	3	false	single_destination	[]	[ "blue block", "cheese block_target", "metal pot_destination", "stuffed animal_target" ]	false	Not supported with pagination yet
robotarena/scene54_1goal	robotarena_comp	scene54_1goal	put the spoon on the cloth.	[ "put the spoon on the cloth." ]	1	false	single_destination	[]	[ "cloth_destination", "spoon_target" ]	false	Not supported with pagination yet
robotarena/scene54_2goal	robotarena_comp	scene54_2goal	put the spoon and the chicken drumstick on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	2	false	single_destination	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_2goal_ordered	robotarena_comp	scene54_2goal_ordered	first put the chicken drumstick on the cloth, then put the spoon on the cloth	[ "put the chicken drumstick on the cloth.", "put the spoon on the cloth." ]	2	true	ordered	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_3goal	robotarena_comp	scene54_3goal	put the spoon, the chicken drumstick and the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the pot on the cloth." ]	3	false	single_destination	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_3goal_ordered	robotarena_comp	scene54_3goal_ordered	first put the corn cob on the cloth, then put the spoon on the cloth, then put the chicken drumstick on the cloth	[ "put the corn cob on the cloth.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	3	true	ordered	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_duplicates_2	robotarena_comp	scene54_duplicates_2	put both corn cobs on the cloth	[ "put the corn cob on the cloth.", "put the corn cob on the cloth." ]	2	false	duplicates	[]	[ "cloth_destination", "toy corn cob", "toy corn cob copy" ]	false	Not supported with pagination yet
robotarena/scene54_duplicates_3	robotarena_comp	scene54_duplicates_3	put the three corn cobs on the cloth	[ "put the corn cob on the cloth.", "put the corn cob on the cloth.", "put the corn cob on the cloth." ]	3	false	duplicates	[]	[ "cloth_destination", "toy corn cob", "toy corn cob copy", "toy corn cob copy 2" ]	false	Not supported with pagination yet
robotarena/scene54_except	robotarena_comp	scene54_except	put everything except the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	2	false	exclusion	[ "pot" ]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_except_3	robotarena_comp	scene54_except_3	put everything except the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the corn cob on the cloth." ]	3	false	exclusion	[ "pot" ]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_relay_2	robotarena_comp	scene54_relay_2	first put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot." ]	2	true	relay	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_relay_4	robotarena_comp	scene54_relay_4	first put the spoon on the cloth, then put the spoon in the pot, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot." ]	4	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_10	robotarena_comp	scene54_revisit_10	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot."...	10	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_3	robotarena_comp	scene54_revisit_3	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth." ]	3	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_6	robotarena_comp	scene54_revisit_6	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth." ]	6	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_7	robotarena_comp	scene54_revisit_7	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth." ]	7	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_8	robotarena_comp	scene54_revisit_8	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot." ]	8	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_9	robotarena_comp	scene54_revisit_9	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob on the cloth, then put the corn cob in the pot, then put the corn c...	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob on the cloth.", "put the corn cob in the pot.", "put the corn co...	9	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_2	robotarena_comp	scene54_route_2	first put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth." ]	2	true	relay	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_route_4	robotarena_comp	scene54_route_4	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth." ]	4	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_route_6	robotarena_comp	scene54_route_6	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth." ]	6	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_7	robotarena_comp	scene54_route_7	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth, then put the cheese on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth.", "put the cheese on the cloth." ]	7	true	relay	[]	[ "cheese block_target", "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_8	robotarena_comp	scene54_route_8	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth, then put the cheese in the pot, then put the cheese on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth.", "put the cheese in the pot.", "put the cheese on the cloth." ]	8	true	relay	[]	[ "cheese block_target", "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_split_2	robotarena_comp	scene54_split_2	put the spoon on the cloth and put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the chicken drumstick in the pot." ]	2	false	split	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_split_3	robotarena_comp	scene54_split_3	put the spoon and the corn cob on the cloth and put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the corn cob on the cloth.", "put the chicken drumstick in the pot." ]	3	false	split	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_transfer_2	robotarena_comp	scene54_transfer_2	move the spoon and the chicken drumstick from the cloth to the pot	[ "put the spoon in the pot.", "put the chicken drumstick in the pot." ]	2	false	transfer	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene76_1goal	robotarena_comp	scene76_1goal	put the metal pot on the yellow cloth.	[ "put the metal pot on the yellow cloth." ]	1	false	single_destination	[]	[ "metal pot_target", "yellow cloth" ]	false	Not supported with pagination yet
robotarena/scene76_2goal	robotarena_comp	scene76_2goal	put the metal pot and the mushroom toy on the yellow cloth	[ "put the metal pot on the yellow cloth.", "put the mushroom toy on the yellow cloth." ]	2	false	single_destination	[]	[ "metal pot_target", "mushroom toy", "yellow cloth" ]	false	Not supported with pagination yet
robotarena/scene76_2goal_ordered	robotarena_comp	scene76_2goal_ordered	first put the metal pot on the yellow cloth, then put the mushroom toy on the yellow cloth	[ "put the metal pot on the yellow cloth.", "put the mushroom toy on the yellow cloth." ]	2	true	ordered	[]	[ "metal pot_target", "mushroom toy", "yellow cloth" ]	false	Not supported with pagination yet
simplerenv/all10_plate	simplerenv_comp	all10_plate	put the four carrots, the three spoons and the three eggplants on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put th...	10	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_carrot_generated_modified#2", "bridge_carrot_generated_modified#3", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified#0", "bridge_spoon_generated_modified#1", "bridge_spoon_generated_modified#2", "egg...	false	Not supported with pagination yet
simplerenv/all10_towel	simplerenv_comp	all10_towel	put the four carrots, the three spoons and the three eggplants on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel.", "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel.", "put the carrot on the blue towel.", "put the spoon on the blue towel.", "pu...	10	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_carrot_generated_modified#2", "bridge_carrot_generated_modified#3", "bridge_spoon_generated_modified#0", "bridge_spoon_generated_modified#1", "bridge_spoon_generated_modified#2", "eggplant#0", "eggplant#1", "eggpla...	false	Not supported with pagination yet
simplerenv/all1_plate	simplerenv_comp	all1_plate	put the carrot on the plate.	[ "put the carrot on the plate." ]	1	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger" ]	false	Not supported with pagination yet
simplerenv/all1_towel	simplerenv_comp	all1_towel	put the spoon on the blue towel.	[ "put the spoon on the blue towel." ]	1	false	single_destination	[]	[ "bridge_spoon_generated_modified", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all2_plate	simplerenv_comp	all2_plate	put the carrot and the spoon on the plate	[ "put the carrot on the plate.", "put the spoon on the plate." ]	2	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified" ]	false	Not supported with pagination yet
simplerenv/all2_towel	simplerenv_comp	all2_towel	put the carrot and the spoon on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel." ]	2	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_spoon_generated_modified", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all3_plate	simplerenv_comp	all3_plate	put the carrot, the spoon and the eggplant on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate." ]	3	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified", "eggplant" ]	false	Not supported with pagination yet
simplerenv/all3_towel	simplerenv_comp	all3_towel	put the carrot, the spoon and the eggplant on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel." ]	3	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_spoon_generated_modified", "eggplant", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all4_plate	simplerenv_comp	all4_plate	put both carrots, the spoon and the eggplant on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate." ]	4	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified", "eggplant" ]	false	Not supported with pagination yet

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LADDER offline VLM benchmark

📄 Paper · 💻 Code · 🌐 Website · 🤗 LADDER collection

The offline benchmark of LADDER, a benchmark for long-horizon robot manipulation. It holds the judgements an orchestrator asks a vision-language model (VLM) to make, on frames of the three LADDER suites, scored without running a simulator. The labels come from the simulator's own success checks.

config	rows	input	tasks
`decomposition`	145	the first frame and the instruction of every task	plan decomposition
`subtask_states`	562	a frame from a recorded episode, with the true state of every subgoal	subgoal verification, state tracking, subgoal switching

Tasks

task	config	the model gets	it answers
plan decomposition	`decomposition`	frame and instruction	the list of subgoals
subgoal verification	`subtask_states`	frame and one subgoal	done or not done
state tracking	`subtask_states`	frame and the plan	which subgoals are done
subgoal switching	`subtask_states`	frame and instruction	the next subgoal

Columns

decomposition: id, benchmark (the suite), scene, instruction, subtasks (the reference plan), n_goals, ordered, revisits, family, distractors, objects, image_main, and on RoboLab-Long image_wrist.

subtask_states: the same task columns, plus achieved (the state of every subgoal at this frame), query_idx and label (the subgoal asked about in verification, and its answer), tags (what the frame shows: fresh, in_progress, regressed, cold, terminal, held), step, num_steps, arm and source (the episode it was cut from), and the images.

Usage

Load a config with datasets:

from datasets import load_dataset
plans = load_dataset("INSAIT-Institute/LADDER-Offline-VLM-Benchmark", "decomposition", split="train")
states = load_dataset("INSAIT-Institute/LADDER-Offline-VLM-Benchmark", "subtask_states", split="train")

Score a model with the LADDER code, on an OpenAI-compatible endpoint (--backend gateway, with VLM_BASE_URL / VLM_API_KEY) or locally from Hugging Face:

scripts/vlm_benchmark.sh decomposition --model <model>
scripts/vlm_benchmark.sh verification --model <model>

The first argument is decomposition, verification, state_tracking or next_subtask. The scorers use the orchestrator's own components and prompts, so a score here is the model's score inside the orchestrator. The metrics are described in api/client/metrics/README.md.

Results

From the paper, in %. ± is the 95% Wilson interval, widened for the correlation of frames from the same scene. TP and TN rates measure detecting finished and unfinished subgoals. Tokens are those generated per query, reasoning included.

model	planning: exact match	subgoal completion: TP rate	subgoal completion: TN rate	state tracking: all correct	next subgoal: valid	tokens per query
Qwen3-VL-2B	75.2 ± 7.6	68.2 ± 7.0	34.1 ± 5.9	9.3 ± 4.0	58.9 ± 5.3
Qwen3-VL-8B	91.0 ± 5.8	69.0 ± 6.8	79.9 ± 5.7	47.9 ± 5.5	72.3 ± 4.4
Qwen3.5-9B	86.9 ± 6.5	44.4 ± 6.3	96.9 ± 2.5	11.7 ± 3.7	63.2 ± 4.8	5,173
Qwen3.8-27B	91.0 ± 5.8	76.2 ± 6.3	84.8 ± 4.3	58.2 ± 4.8	79.3 ± 4.1	1,904
Gemini 3.1 Pro	89.7 ± 6.0	54.8 ± 6.6	96.0 ± 2.9	68.7 ± 4.3	75.2 ± 4.5	583
Gemini 3.7 Flash	93.1 ± 5.4	59.4 ± 6.6	96.6 ± 2.6	70.8 ± 4.0	81.4 ± 4.2	412
Gemini Robotics-ER 2	90.3 ± 5.9	54.0 ± 6.5	97.8 ± 2.3	69.6 ± 4.2	76.6 ± 4.1	510
GPT-5.6 Sol	93.1 ± 5.4	72.8 ± 6.3	86.4 ± 4.3	56.4 ± 4.7	82.0 ± 4.3	282
GPT-6 Astra	91.7 ± 5.7	71.1 ± 6.2	86.4 ± 4.4	53.2 ± 5.1	85.4 ± 4.0	203
Claude Opus 5	90.3 ± 5.9	68.6 ± 6.6	87.9 ± 4.1	61.0 ± 4.7	79.8 ± 4.4	400

License

CC BY 4.0. The RoboLab-Long frames show RoboLab assets, which are licensed under CC BY-NC-SA 4.0.

Citation

@article{ladder2026,
  title   = {{LADDER}: A Long-Horizon Robot Manipulation Benchmark},
  author  = {Petkov, Petko and Albanese, Giuliano and Nikolov, Nikolay and Van Gool, Luc and Tremblay, Jonathan and Paudel, Danda Pani},
  journal = {arXiv preprint arXiv:2610.18053},
  year    = {2026},
  url     = {https://arxiv.org/abs/2610.18053}
}

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Collection including INSAIT-Institute/LADDER-Offline-VLM-Benchmark

LADDER

Collection

LADDER: a long-horizon robot manipulation benchmark • 3 items • Updated 1 day ago

Paper for INSAIT-Institute/LADDER-Offline-VLM-Benchmark

LADDER: A Long-Horizon Robot Manipulation Benchmark

Paper • 2610.18053 • Published 11 days ago