GroundedPlanBench: Spatially grounded long-horizon task planning for robot manipulation
Sehun Jung, HyunJee Song, Dong-Hee Kim, Reuben Tan, Jianfeng Gao, Yong Jae Lee, Donghyun Kim
At a glance
- VLM-based robot planners struggle with long, complex tasks because natural-language plans can be ambiguous, especially when specifying both actions and locations.
- GroundedPlanBench evaluates whether models can plan actions and determine where they should occur across diverse, real-world robot scenarios.
- Video-to-Spatially Grounded Planning (V2GP) is a framework that converts robot demonstration videos into spatially grounded training data, enabling models to learn planning and.