VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
Paper • 2412.18194 • Published • 1
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: CastError
Message: Couldn't cast
skill_sequence: list<item: struct<name: string, params: struct<target_entity_name: int64, target_container_name: int (... 5 chars omitted)
child 0, item: struct<name: string, params: struct<target_entity_name: int64, target_container_name: int64>>
child 0, name: string
child 1, params: struct<target_entity_name: int64, target_container_name: int64>
child 0, target_entity_name: int64
child 1, target_container_name: int64
task: struct<components: list<item: struct<name: string, xml_path: string, position: list<item: double>, o (... 369 chars omitted)
child 0, components: list<item: struct<name: string, xml_path: string, position: list<item: double>, orientation: list<it (... 76 chars omitted)
child 0, item: struct<name: string, xml_path: string, position: list<item: double>, orientation: list<item: double> (... 64 chars omitted)
child 0, name: string
child 1, xml_path: string
child 2, position: list<item: double>
child 0, item: double
child 3, orientation: list<item: double>
child 0, item: double
child 4, class: string
child 5, materials: list<item: string>
child 0, item: string
child 6, content: string
child 1, scene: struct<name: string, position: list<item: double>, orientation: list<item: double>, floor_textures: (... 19 chars omitted)
child 0, name: string
child 1, position: list<item: double>
child 0, item: double
child 2, orientation: list<item: double>
child 0, item: double
child 3, floor_textures: list<item: string>
child 0, item: string
child 2, instructions: list<item: null>
child 0, item: null
child 3, conditions: struct<pour: struct<target_entity: string>, above: struct<target_entity: string, platform: string>>
child 0, pour: struct<target_entity: string>
child 0, target_entity: string
child 1, above: struct<target_entity: string, platform: string>
child 0, target_entity: string
child 1, platform: string
to
{'task': {'components': List({'name': Value('string'), 'xml_path': Value('string'), 'position': List(Value('float64')), 'orientation': List(Value('float64')), 'class': Value('string'), 'materials': List(Value('string')), 'content': Value('string')}), 'scene': {'name': Value('string'), 'position': List(Value('float64')), 'orientation': List(Value('float64')), 'floor_textures': List(Value('string'))}, 'instructions': List(Value('null')), 'conditions': {'pour': {'target_entity': Value('string')}, 'above': {'target_entity': Value('string'), 'platform': Value('string')}}}}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
skill_sequence: list<item: struct<name: string, params: struct<target_entity_name: int64, target_container_name: int (... 5 chars omitted)
child 0, item: struct<name: string, params: struct<target_entity_name: int64, target_container_name: int64>>
child 0, name: string
child 1, params: struct<target_entity_name: int64, target_container_name: int64>
child 0, target_entity_name: int64
child 1, target_container_name: int64
task: struct<components: list<item: struct<name: string, xml_path: string, position: list<item: double>, o (... 369 chars omitted)
child 0, components: list<item: struct<name: string, xml_path: string, position: list<item: double>, orientation: list<it (... 76 chars omitted)
child 0, item: struct<name: string, xml_path: string, position: list<item: double>, orientation: list<item: double> (... 64 chars omitted)
child 0, name: string
child 1, xml_path: string
child 2, position: list<item: double>
child 0, item: double
child 3, orientation: list<item: double>
child 0, item: double
child 4, class: string
child 5, materials: list<item: string>
child 0, item: string
child 6, content: string
child 1, scene: struct<name: string, position: list<item: double>, orientation: list<item: double>, floor_textures: (... 19 chars omitted)
child 0, name: string
child 1, position: list<item: double>
child 0, item: double
child 2, orientation: list<item: double>
child 0, item: double
child 3, floor_textures: list<item: string>
child 0, item: string
child 2, instructions: list<item: null>
child 0, item: null
child 3, conditions: struct<pour: struct<target_entity: string>, above: struct<target_entity: string, platform: string>>
child 0, pour: struct<target_entity: string>
child 0, target_entity: string
child 1, above: struct<target_entity: string, platform: string>
child 0, target_entity: string
child 1, platform: string
to
{'task': {'components': List({'name': Value('string'), 'xml_path': Value('string'), 'position': List(Value('float64')), 'orientation': List(Value('float64')), 'class': Value('string'), 'materials': List(Value('string')), 'content': Value('string')}), 'scene': {'name': Value('string'), 'position': List(Value('float64')), 'orientation': List(Value('float64')), 'floor_textures': List(Value('string'))}, 'instructions': List(Value('null')), 'conditions': {'pour': {'target_entity': Value('string')}, 'above': {'target_entity': Value('string'), 'platform': Value('string')}}}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
VLABench VLM Evaluation Dataset
This dataset is the VLM evaluation split of VLABench, prepared for reproducible VLABench evaluation with PhysBrainEvalKit.
Source
- Project page: https://vlabench.github.io/
- Paper: https://arxiv.org/abs/2412.18194
- Official code: https://github.com/OpenMOSS/VLABench
Directory layout
The dataset is organized by evaluation dimension and subtask:
vlm_evaluation_v1.0/
├── CommenSence/
├── Complex/
├── M&T/
├── PhysicsLaw/
├── Semantic/
└── Spatial/
Each subtask contains evaluation episodes, typically example0 through example99:
<dimension>/<subtask>/example0/
├── input/
│ ├── input.png
│ └── input_mask.png
├── instruction/
│ └── input_instruction.txt
├── output/
│ └── operation_sequence.json
└── env_config/
The PhysBrainEvalKit evaluator requires input/input.png, input/input_mask.png, instruction/input_instruction.txt, and output/operation_sequence.json. The optional env_config/ directory contains episode configuration files for users who want to reproduce the underlying simulation environment; it is not required for VLM scoring.
Use with PhysBrainEvalKit
Download or clone this dataset directory, then set its local path:
export VLABENCH_DATASET_PATH=/path/to/vlm_evaluation_v1.0
Run the VLABench benchmark from the PhysBrainEvalKit repository:
python eval_vlabench.py \
--model_path /path/to/qwen3_vl_model \
--model_name qwen3-vl \
--backbone qwen3 \
--backend hf \
--dataset_path "$VLABENCH_DATASET_PATH"
The standard launcher uses the same path automatically when VLABENCH_DATASET_PATH is set:
bash scripts/eval_qwen3vl.sh \
--model-path /path/to/qwen3_vl_model \
--model-name qwen3-vl \
--output-base /path/to/results \
--gpus 0,1 \
--only VLABench
Citation
If you use VLABench, please cite the original paper:
@misc{zhang2024vlabench,
title={VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks},
author={Shiduo Zhang and Zhe Xu and Peiju Liu and Xiaopeng Yu and Yuan Li and Qinghui Gao and Zhaoye Fei and Zhangyue Yin and Zuxuan Wu and Yu-Gang Jiang and Xipeng Qiu},
year={2024},
eprint={2412.18194},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2412.18194}
}
License and redistribution
VLABench data and media remain subject to the license and redistribution terms of the original project. Review the upstream repository before publishing a mirror or redistributing the files.
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