04543a88eae2683133c1acbef5a6bf77-Supplemental-Datasets_and_Benchmarks.pdf

Table 5: All task variations except shape used in VLMbench. The shape variation of each task can be found in the detail descriptions of each task category. Variations Totals Values Color 25 seen:red, maroon, lime, green, blue,navy, yellow, cyan, magenta, silver, gray, olive, purple, teal, azure, violet, rose, black, white unseen: brown, gold, pink, chocolate, coral Size 5 larger, smaller, large, medium, small Relative Position 5 top, front, rear, left, right Level 3 top, middle, bottom Amount 2 fully, slightly Action Type 2 open, close Table 6: All object models used in VLMbench. The number behind the object class indicate the instance number of that class. Here, we list variations used for these tasks in Table. 5. For each demonstration, all things in the scene will change the pose at the beginning. When building an instance-level task with one variation, the other variations will also randomly change. For example, in the demonstrations of "Pick & Place objects" with "size" variation, all objects' color and relative positions, including targets and distractors, will randomly change. In the dataset, we have five types of objects, shown in Table 6. We will explain each task in detail as follows. Visualizations can be found on the project website. A.1 Pick & Place Objects Task Definition: The agent needs to distinguish the specific object to grasp and then place it into a particular container. The object can be placed anywhere with any orientation inside the container.