GroundedPlanBench: Spatially grounded long-horizon task planning for robot manipulation

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.