Hugging Face's logo

Datasets:
keplerccc
/
Robo2VLM-1

Modalities:
Image
Text
Formats:
parquet
Size:
100K - 1M
ArXiv:
Libraries:
Datasets
Dask
Dataset card Data Studio Files Community
1
Dataset Viewer
Auto-converted to Parquet
id
stringlengths
26
227
question
stringlengths
28
309
choices
stringlengths
25
515
correct_answer
int64
0
4
image
imagewidth (px)
84
640
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q27
In the image from ext2, which colored point is CLOSEST to the camera?
['Purple', 'Yellow', 'Red', 'Blue', 'Green']
2
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q28
The robot task is to remove the black object from the bowl and put it inside the box. Which colored arrow correctly shows the direction the robot will move next?
['Red', 'Blue', 'Purple', 'Yellow', 'Green']
0
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q29
The robot is to remove the black object from the bowl and put it inside the box. Has the robot successfully completed the task?
['Yes', 'Task was not attempted', 'No', 'Cannot be determined']
2
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q30
In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?
['E', 'A', 'C', 'D', 'B']
1
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q31
In the image from ext1, which colored point is CLOSEST to the camera?
['Blue', 'Green', 'Yellow', 'Red', 'Purple']
0
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q32
The robot task is to remove the black object from the bowl and put it inside the box. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Blue', 'Purple', 'Yellow', 'Red']
4
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q33
In the image from ext2, which colored point is CLOSEST to the camera?
['Green', 'Red', 'Yellow', 'Purple', 'Blue']
2
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q34
The robot task is to remove the black object from the bowl and put it inside the box. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'None of the above', 'Blue', 'Green', 'Yellow']
1
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q35
The robot is to remove the black object from the bowl and put it inside the box. Has the robot successfully completed the task?
['No', 'Cannot be determined', 'Yes', 'Task was not attempted']
2
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q37
The robot's task is to remove the black object from the bowl and put it inside the box. Which configuration shows the goal state that the robot should achieve?
['Configuration C', 'Configuration D', 'Configuration B', 'Configuration E', 'Configuration A']
4
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q38
In the image from ext1, which colored point is CLOSEST to the camera?
['Blue', 'Green', 'Red', 'Purple', 'Yellow']
3
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q39
The robot task is to remove the black object from the bowl and put it inside the box. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Blue', 'Red', 'Yellow', 'Green']
2
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q40
In the image from ext2, which colored point is CLOSEST to the camera?
['None of the above', 'Green', 'Red', 'Purple', 'Blue']
0
droid_remove_the_black_object_from_the_bowl_and_put_it_inside_the_box_14652_q41
The robot task is to remove the black object from the bowl and put it inside the box. Which colored arrow correctly shows the direction the robot will move next?
['Yellow', 'Red', 'Purple', 'Green', 'Blue']
1
droid_remove_the_black_object_from_the_box_1353_q1
Which language instruction best describes the robot's trajectory shown in the image?
['Push the box towards the table', 'Pick up the black object from the surface', 'remove the black object from the box', 'Grab the black object with the gripper', 'Pick up the box from the drawer']
2
droid_remove_the_black_object_from_the_box_1353_q2
Which language instruction best describes the robot's trajectory shown in the image?
['Slide the box to the right', 'Pick up the box from the floor', 'Grab the box with the gripper', 'remove the black object from the box', 'Place the black object on the platform']
3
droid_remove_the_black_object_from_the_box_1353_q3
The robot is to remove the black object from the box. Has the robot successfully completed the task?
['No', 'Cannot be determined', 'Yes', 'Task was not attempted']
0
droid_remove_the_black_object_from_the_box_1353_q4
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['None of the above', 'C', 'B', 'E', 'D']
0
droid_remove_the_black_object_from_the_box_1353_q5
In the image from ext1, which colored point is CLOSEST to the camera?
['Blue', 'Yellow', 'Purple', 'Red', 'Green']
0
droid_remove_the_black_object_from_the_box_1353_q6
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Yellow', 'Blue', 'Purple', 'Red', 'Green']
3
droid_remove_the_black_object_from_the_box_1353_q7
In the image from ext2, which colored point is CLOSEST to the camera?
['Blue', 'Red', 'Purple', 'Green', 'Yellow']
4
droid_remove_the_black_object_from_the_box_1353_q8
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Yellow', 'Red', 'Purple', 'Blue', 'Green']
1
droid_remove_the_black_object_from_the_box_1353_q9
The robot is to remove the black object from the box. Has the robot successfully completed the task?
['Yes', 'Task was not attempted', 'No', 'Cannot be determined']
2
droid_remove_the_black_object_from_the_box_1353_q10
In the image from ext1, which colored point is FARTHEST from the camera?
['Yellow', 'Red', 'Green', 'Purple', 'Blue']
3
droid_remove_the_black_object_from_the_box_1353_q11
In the image from ext2, which colored point is CLOSEST to the camera?
['Red', 'Purple', 'Green', 'Yellow', 'Blue']
3
droid_remove_the_black_object_from_the_box_1353_q12
The robot is to remove the black object from the box. Has the robot successfully completed the task?
['Cannot be determined', 'Task was not attempted', 'Yes', 'No']
3
droid_remove_the_black_object_from_the_box_1353_q13
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['D', 'A', 'C', 'E', 'B']
0
droid_remove_the_black_object_from_the_box_1353_q14
In the image from ext1, which colored point is FARTHEST from the camera?
['Red', 'Blue', 'Yellow', 'Green', 'Purple']
1
droid_remove_the_black_object_from_the_box_1353_q15
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Red', 'Purple', 'Blue', 'Green', 'Yellow']
0
droid_remove_the_black_object_from_the_box_1353_q16
In the image from ext2, which colored point is CLOSEST to the camera?
['Green', 'Red', 'Blue', 'Yellow', 'Purple']
3
droid_remove_the_black_object_from_the_box_1353_q17
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Purple', 'Red', 'Yellow', 'Blue']
2
droid_remove_the_black_object_from_the_box_1353_q18
The robot is to remove the black object from the box. Has the robot successfully completed the task?
['Cannot be determined', 'Task was not attempted', 'Yes', 'No']
3
droid_remove_the_black_object_from_the_box_1353_q19
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['A', 'C', 'D', 'B', 'E']
0
droid_remove_the_black_object_from_the_box_1353_q20
In the image from ext1, which colored point is CLOSEST to the camera?
['Yellow', 'Purple', 'Red', 'Green', 'Blue']
3
droid_remove_the_black_object_from_the_box_1353_q21
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Blue', 'Red', 'Yellow', 'Purple']
2
droid_remove_the_black_object_from_the_box_1353_q22
In the image from ext2, which colored point is CLOSEST to the camera?
['Green', 'Purple', 'Blue', 'Red', 'Yellow']
3
droid_remove_the_black_object_from_the_box_1353_q23
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Green', 'Yellow', 'Red', 'Blue']
3
droid_remove_the_black_object_from_the_box_1353_q24
The robot is to remove the black object from the box. Has the robot successfully completed the task?
['No', 'Yes', 'Cannot be determined', 'Task was not attempted']
0
droid_remove_the_black_object_from_the_box_1353_q25
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['C', 'B', 'A', 'D', 'E']
0
droid_remove_the_black_object_from_the_box_1353_q26
In the image from ext1, which colored point is FARTHEST from the camera?
['Green', 'Blue', 'Red', 'Purple', 'Yellow']
0
droid_remove_the_black_object_from_the_box_1353_q27
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Red', 'Yellow', 'Blue', 'Purple', 'Green']
0
droid_remove_the_black_object_from_the_box_1353_q28
In the image from ext2, which colored point is CLOSEST to the camera?
['None of the above', 'Purple', 'Yellow', 'Red', 'Green']
0
droid_remove_the_black_object_from_the_box_1353_q29
The robot task is to remove the black object from the box. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Purple', 'Yellow', 'None of the above', 'Blue']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q1
Which language instruction best describes the robot's trajectory shown in the image?
['Move the black object to the corner', 'Grab the black object with the gripper', 'Slide the colourless bag to the right', 'Place the colourless bag on the surface', 'remove the black object from the colourless bag']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q2
Which language instruction best describes the robot's trajectory shown in the image?
['Slide the colourless bag to the right', 'Push the black object towards the platform', 'Drop the colourless bag into the bin', 'Align the colourless bag with the platform', 'remove the black object from the colourless bag']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q3
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['No', 'Task was not attempted', 'Cannot be determined', 'Yes']
0
droid_remove_the_black_object_from_the_colourless_bag_321_q4
In the image from ext1, which colored point is FARTHEST from the camera?
['Yellow', 'Purple', 'Blue', 'Red', 'Green']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q5
In the image from ext2, which colored point is FARTHEST from the camera?
['Purple', 'Green', 'Blue', 'Red', 'Yellow']
0
droid_remove_the_black_object_from_the_colourless_bag_321_q6
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['Yes', 'No', 'Cannot be determined', 'Task was not attempted']
0
droid_remove_the_black_object_from_the_colourless_bag_321_q7
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['C', 'B', 'A', 'None of the above', 'E']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q8
In the image from ext1, which colored point is FARTHEST from the camera?
['Green', 'Purple', 'Red', 'Blue', 'Yellow']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q9
In the image from ext2, which colored point is FARTHEST from the camera?
['Blue', 'Purple', 'Yellow', 'Red', 'Green']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q10
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['Cannot be determined', 'Task was not attempted', 'No', 'Yes']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q11
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['C', 'B', 'D', 'E', 'A']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q12
In the image from ext1, which colored point is CLOSEST to the camera?
['Purple', 'Green', 'Blue', 'Red', 'Yellow']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q13
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Blue', 'Purple', 'Red', 'Yellow', 'Green']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q14
In the image from ext2, which colored point is CLOSEST to the camera?
['Red', 'Purple', 'Blue', 'Green', 'Yellow']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q15
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Red', 'Blue', 'Yellow', 'Green', 'Purple']
0
droid_remove_the_black_object_from_the_colourless_bag_321_q16
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['Yes', 'Task was not attempted', 'No', 'Cannot be determined']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q17
In the left image (ext2 camera), a red dot is marked. Which point is the closest point in the right image (ext1 camera) corresponding to the same 3D location?
['D', 'E', 'B', 'C', 'A']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q18
In the image from ext1, which colored point is FARTHEST from the camera?
['Yellow', 'Red', 'Blue', 'Purple', 'None of the above']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q19
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Purple', 'Yellow', 'Blue', 'Red']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q20
In the image from ext2, which colored point is CLOSEST to the camera?
['Green', 'Blue', 'Yellow', 'Red', 'Purple']
0
droid_remove_the_black_object_from_the_colourless_bag_321_q21
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Red', 'Blue', 'Yellow', 'Green']
1
droid_remove_the_black_object_from_the_colourless_bag_321_q22
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['Task was not attempted', 'No', 'Cannot be determined', 'Yes']
1
droid_remove_the_black_object_from_the_colourless_bag_321_q23
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['C', 'E', 'B', 'D', 'A']
1
droid_remove_the_black_object_from_the_colourless_bag_321_q24
The robot's task is to remove the black object from the colourless bag. Which configuration shows the goal state that the robot should achieve?
['Configuration E', 'Configuration B', 'Configuration C', 'Configuration D', 'Configuration A']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q25
In the image from ext1, which colored point is FARTHEST from the camera?
['Yellow', 'Red', 'Purple', 'Blue', 'Green']
1
droid_remove_the_black_object_from_the_colourless_bag_321_q26
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Green', 'Red', 'Yellow', 'Blue']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q27
In the image from ext2, which colored point is CLOSEST to the camera?
['Green', 'Red', 'Blue', 'Purple', 'Yellow']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q28
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Blue', 'Yellow', 'Green', 'Red']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q29
The robot is to remove the black object from the colourless bag. Has the robot successfully completed the task?
['Cannot be determined', 'Yes', 'No', 'Task was not attempted']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q30
In the left image (ext1 camera), a red dot is marked. Which point is the closest point in the right image (ext2 camera) corresponding to the same 3D location?
['C', 'E', 'D', 'B', 'A']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q31
The robot's task is to remove the black object from the colourless bag. Which configuration shows the goal state that the robot should achieve?
['Configuration C', 'Configuration E', 'None of the above', 'Configuration D', 'Configuration B']
2
droid_remove_the_black_object_from_the_colourless_bag_321_q32
In the image from ext1, which colored point is CLOSEST to the camera?
['Green', 'Blue', 'Yellow', 'Red', 'Purple']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q33
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Blue', 'Green', 'Purple', 'Red', 'Yellow']
3
droid_remove_the_black_object_from_the_colourless_bag_321_q34
In the image from ext2, which colored point is CLOSEST to the camera?
['Red', 'Purple', 'Blue', 'Green', 'Yellow']
4
droid_remove_the_black_object_from_the_colourless_bag_321_q35
The robot task is to remove the black object from the colourless bag. Which colored arrow correctly shows the direction the robot will move next?
['Green', 'Red', 'Purple', 'Yellow', 'Blue']
1
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q1
Which language instruction best describes the robot's trajectory shown in the image?
['remove the black pen from the mug and place it on the countertop', 'Grab the black pen with the gripper', 'Place the black pen on the mug', 'Place the mug on the mug', 'Push the countertop towards the mug']
0
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q2
Which language instruction best describes the robot's trajectory shown in the image?
['Drop the black pen into the there are no specific locations or spatial references mentioned.', 'remove the black pen from the mug and place it on the countertop', 'Move the countertop to the there are no specific locations or spatial references mentioned.', 'Pick up the black pen from the there are no specific locations or spatial references mentioned.', 'Slide the countertop to the right']
1
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q3
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['Task was not attempted', 'Cannot be determined', 'Yes', 'No']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q4
In the image from ext1, which colored point is FARTHEST from the camera?
['Yellow', 'Blue', 'Red', 'Green', 'Purple']
0
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q5
In the image from ext2, which colored point is FARTHEST from the camera?
['Yellow', 'Red', 'Purple', 'Green', 'Blue']
4
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q6
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['Task was not attempted', 'Yes', 'No', 'Cannot be determined']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q7
The robot's task is to remove the black pen from the mug and place it on the countertop. Which configuration shows the goal state that the robot should achieve?
['Configuration E', 'Configuration C', 'Configuration A', 'Configuration B', 'Configuration D']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q8
In the image from ext1, which colored point is CLOSEST to the camera?
['Red', 'Purple', 'Blue', 'Yellow', 'Green']
0
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q9
In the image from ext2, which colored point is FARTHEST from the camera?
['Green', 'Yellow', 'Purple', 'Blue', 'Red']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q10
The robot task is to remove the black pen from the mug and place it on the countertop. Which colored arrow correctly shows the direction the robot will move next?
['Purple', 'Blue', 'Yellow', 'Red', 'Green']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q11
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['No', 'Yes', 'Task was not attempted', 'Cannot be determined']
1
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q12
The robot's task is to remove the black pen from the mug and place it on the countertop. Which configuration shows the goal state that the robot should achieve?
['Configuration D', 'Configuration C', 'Configuration B', 'None of the above', 'Configuration E']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q13
In the image from ext1, which colored point is FARTHEST from the camera?
['Green', 'Purple', 'Blue', 'Red', 'Yellow']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q14
In the image from ext2, which colored point is FARTHEST from the camera?
['Green', 'None of the above', 'Yellow', 'Blue', 'Red']
1
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q15
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['Cannot be determined', 'Task was not attempted', 'Yes', 'No']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q16
In the image from ext1, which colored point is CLOSEST to the camera?
['Red', 'Green', 'Yellow', 'Blue', 'Purple']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q17
In the image from ext2, which colored point is FARTHEST from the camera?
['Yellow', 'Green', 'Red', 'Purple', 'Blue']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q18
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['Cannot be determined', 'Yes', 'No', 'Task was not attempted']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q19
In the image from ext1, which colored point is FARTHEST from the camera?
['Blue', 'Red', 'Yellow', 'Purple', 'Green']
3
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q20
In the image from ext2, which colored point is CLOSEST to the camera?
['Yellow', 'Green', 'Red', 'Purple', 'Blue']
2
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q21
The robot task is to remove the black pen from the mug and place it on the countertop. Which colored arrow correctly shows the direction the robot will move next?
['Blue', 'Yellow', 'Purple', 'Green', 'Red']
4
droid_remove_the_black_pen_from_the_mug_and_place_it_on_the_countertop_2604_q22
The robot is to remove the black pen from the mug and place it on the countertop. Has the robot successfully completed the task?
['Yes', 'Task was not attempted', 'No', 'Cannot be determined']
2
End of preview. Expand in Data Studio

Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets

Abstract

Vision-Language Models (VLMs) acquire real-world knowledge and general reasoning ability through Internet-scale image-text corpora. They can augment robotic systems with scene understanding and task planning, and assist visuomotor policies that are trained on robot trajectory data. We explore the reverse paradigm - using rich, real, multi-modal robot trajectory data to enhance and evaluate VLMs. In this paper, we present Robo2VLM, a Visual Question Answering (VQA) dataset generation framework for VLMs. Given a human tele-operated robot trajectory, Robo2VLM derives ground-truth from non-visual and non-descriptive sensory modalities, such as end-effector pose, gripper aperture, and force sensing. Based on these modalities, it segments the robot trajectory into a sequence of manipulation phases. At each phase, Robo2VLM uses scene and interaction understanding to identify 3D properties of the robot, task goal, and the target object. The properties are used to generate representative VQA queries - images with textural multiple-choice questions - based on spatial, goal-conditioned, and interaction reasoning question templates. We curate Robo2VLM-1, a large-scale in-the-wild dataset with 684,710 questions covering 463 distinct scenes and 3,396 robotic manipulation tasks from 176k real robot trajectories. Results suggest that Robo2VLM-1 can benchmark and improve VLM capabilities in spatial and interaction reasoning.

Paper link: http://arxiv.org/abs/2505.15517

Citation 

@misc{chen2025robo2vlmvisualquestionanswering,
      title={Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets}, 
      author={Kaiyuan Chen and Shuangyu Xie and Zehan Ma and Ken Goldberg},
      year={2025},
      eprint={2505.15517},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2505.15517}, 
}
Downloads last month
724
Size of downloaded dataset files:
107 GB
Size of the auto-converted Parquet files:
107 GB
Number of rows:
684,710