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Table 5: All task variations except shape used in VLMbench. Table 6: All object models used in VLMbench. Object type Number of classes Classes Basic model 3 cube (1), triangular prism (1), cylinder (1)Special model 9 star (1), moon (1), cross (1), flower (1), letter't' (1), pencil (1), basket (1), box container(1), shape sorter (1)Planar model 6 rectangle (1), circle (1), triangle (1), star (1), cross (1), flower (1)Functional model 2 mug (6), sponge (1) Articulated model 2 door with one rotatble handle (2), cabinet with three vertical drawers (3) In the VLMbench, we show eight task categories:"Pick & Place objects", "Stack objects", "Drop 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" In the dataset, we have five types of objects, shown in Table 6. Visualizations can be found on the project website. The object can be placed anywhere with any orientation inside the container. When the detector is triggered, the task considers a success. Instruction T emplates: High-level instructions: "Pick up [target object description] and place it into [target container description]."; Low-level instructions: ("Move to the top of [target object "Move the object into [target container description]; V ariations and scene settings: All objects are randomly changing colors, size, and positions in each demonstration. Color: There are two same-shape objects and two same-shape containers in the scene initialization. All colors are randomly sampled from the color library. The object description is "[color] object"; The container description is "[color] container." Size: There are two same-shape objects and two same-shape containers in the scene initialization. One object and one container are randomly magnified while others are randomly shrunk. Relative Position: There are two same-shape objects and two same-shape containers in the scene initialization. The object description is "[front/rear/left/right] object"; The container description The number of objects varies from two to the length of the object library. High-level instructions: "Stack [below object description] and [above object Low-level instructions: ("Move to the top of [above object description]; "Move the object on [below object description]; Release the Object models: In the seen settings, five object models: star, triangular, cylinder, cube, moon.