Datasets:

petkopetkov
/

longhorizon-orchestrator-benchmark

id stringlengths 17 32	benchmark stringclasses 3 values	scene stringlengths 6 22	instruction stringlengths 24 364	subtasks listlengths 1 10	n_goals int32 1 10	ordered bool 2 classes	family stringclasses 15 values	distractors listlengths 0 2	objects listlengths 2 12	revisits bool 2 classes	image_wrist imagewidth (px) 1.28k 1.28k ⌀
robolab/CompBin10Task	robolab_comp	CompBin10Task	put the banana, both oranges, the lemon, the lime, the avocado, the onion, the lychee, the pumpkin and the pomegranate in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in the grey ...	10	false	single_dest	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pomegranate", "pumpkin" ]	false
robolab/CompBin1Task	robolab_comp	CompBin1Task	put the banana in the bin.	[ "put the yellow banana in the grey bin." ]	1	false	single_dest	[]	[ "banana", "bin" ]	false
robolab/CompBin2DistractorTask	robolab_comp	CompBin2DistractorTask	put everything except the red block in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	false	distractor	[ "red_block" ]	[ "banana", "bin", "orange", "red_block" ]	false
robolab/CompBin2Task	robolab_comp	CompBin2Task	put the banana and the orange in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	false	single_dest	[]	[ "banana", "bin", "orange" ]	false
robolab/CompBin4DistractorTask	robolab_comp	CompBin4DistractorTask	put everything except the red block and the blue block in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin." ]	4	false	distractor	[ "red_block", "blue_block" ]	[ "banana", "bin", "blue_block", "lemon", "lime", "orange", "red_block" ]	false
robolab/CompBin6Task	robolab_comp	CompBin6Task	put the banana, the orange, the lemon, the lime, the avocado and the onion in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin." ]	6	false	single_dest	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange" ]	false
robolab/CompIdentical2Task	robolab_comp	CompIdentical2Task	put both oranges in the bin	[ "put the orange in the grey bin.", "put the orange in the grey bin." ]	2	false	identical	[]	[ "bin", "orange_1", "orange_2" ]	false
robolab/CompIdentical4Task	robolab_comp	CompIdentical4Task	put the four limes in the bin	[ "put the green lime in the grey bin.", "put the green lime in the grey bin.", "put the green lime in the grey bin.", "put the green lime in the grey bin." ]	4	false	identical	[]	[ "bin", "lime_1", "lime_2", "lime_3", "lime_4" ]	false
robolab/CompOrderedBin10Task	robolab_comp	CompOrderedBin10Task	first put the pumpkin in the bin, then put the onion in the bin, then put the lime in the bin, then put the avocado in the bin, then put the lemon in the bin, then put the pomegranate in the bin, then put the lychee in the bin, then put the banana in the bin, then put the orange in the bin, then put the orange in the b...	[ "put the orange pumpkin in the grey bin.", "put the red onion in the grey bin.", "put the green lime in the grey bin.", "put the avocado in the grey bin.", "put the yellow lemon in the grey bin.", "put the red pomegranate in the grey bin.", "put the lychee in the grey bin.", "put the yellow banana in ...	10	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pomegranate", "pumpkin" ]	false
robolab/CompOrderedBin2Task	robolab_comp	CompOrderedBin2Task	first put the banana in the bin, then put the orange in the bin	[ "put the yellow banana in the grey bin.", "put the orange in the grey bin." ]	2	true	ordered	[]	[ "banana", "bin", "orange" ]	false
robolab/CompOrderedBin3Task	robolab_comp	CompOrderedBin3Task	first put the banana in the bin, then put the lemon in the bin, then put the orange in the bin	[ "put the yellow banana in the grey bin.", "put the yellow lemon in the grey bin.", "put the orange in the grey bin." ]	3	true	ordered	[]	[ "banana", "bin", "lemon", "orange" ]	false
robolab/CompOrderedBin4Task	robolab_comp	CompOrderedBin4Task	first put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin." ]	4	true	ordered	[]	[ "banana", "bin", "lemon", "lime", "orange" ]	false
robolab/CompOrderedBin5Task	robolab_comp	CompOrderedBin5Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin." ]	5	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange" ]	false
robolab/CompOrderedBin6Task	robolab_comp	CompOrderedBin6Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the onion in the bin, then put the banana in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the yellow banana in the grey bin." ]	6	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange" ]	false
robolab/CompOrderedBin7Task	robolab_comp	CompOrderedBin7Task	first put the avocado in the bin, then put the orange in the bin, then put the lemon in the bin, then put the lime in the bin, then put the onion in the bin, then put the banana in the bin, then put the lychee in the bin	[ "put the avocado in the grey bin.", "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the yellow banana in the grey bin.", "put the lychee in the grey bin." ]	7	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange" ]	false
robolab/CompOrderedBin8Task	robolab_comp	CompOrderedBin8Task	first put the orange in the bin, then put the pumpkin in the bin, then put the lychee in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin, then put the onion in the bin, then put the avocado in the bin	[ "put the orange in the grey bin.", "put the orange pumpkin in the grey bin.", "put the lychee in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the red onion in the grey bin.", "put the avocado in the grey ...	8	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "pumpkin" ]	false
robolab/CompOrderedBin9Task	robolab_comp	CompOrderedBin9Task	first put the onion in the bin, then put the orange in the bin, then put the pumpkin in the bin, then put the lychee in the bin, then put the lemon in the bin, then put the lime in the bin, then put the banana in the bin, then put the avocado in the bin, then put the orange in the bin	[ "put the red onion in the grey bin.", "put the orange in the grey bin.", "put the orange pumpkin in the grey bin.", "put the lychee in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the avocado in the grey ...	9	true	ordered	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "pumpkin" ]	false
robolab/CompPlate1Task	robolab_comp	CompPlate1Task	put the banana on the plate.	[ "put the yellow banana on the white plate." ]	1	false	single_dest	[]	[ "banana", "plate" ]	false
robolab/CompRelay2Task	robolab_comp	CompRelay2Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin." ]	2	true	relay	[]	[ "bin", "lemon", "lime", "plate" ]	true
robolab/CompRelay3Task	robolab_comp	CompRelay3Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin." ]	3	true	relay	[]	[ "banana", "bin", "lemon", "lime", "plate" ]	true
robolab/CompRelay4Task	robolab_comp	CompRelay4Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin, then put the orange on the plate, then put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin.", "put the orange on the white plate.", "put the or...	4	true	relay	[]	[ "banana", "bin", "lemon", "lime", "orange", "plate" ]	true
robolab/CompRelay5Task	robolab_comp	CompRelay5Task	first put the lemon on the plate, then put the lemon in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana on the plate, then put the banana in the bin, then put the orange on the plate, then put the orange in the bin, then put the avocado on the plate, then put the avocado in th...	[ "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana on the white plate.", "put the yellow banana in the grey bin.", "put the orange on the white plate.", "put the or...	5	true	relay	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange", "plate" ]	true
robolab/CompRevisit1Task	robolab_comp	CompRevisit1Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin." ]	1	true	revisit	[]	[ "bin", "lemon", "plate" ]	true
robolab/CompRevisit2Task	robolab_comp	CompRevisit2Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin, then put the lime in the bin, then put the lime on the plate, then put the lime in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin." ]	2	true	revisit	[]	[ "bin", "lemon", "lime", "plate" ]	true
robolab/CompRevisit3Task	robolab_comp	CompRevisit3Task	first put the lemon in the bin, then put the lemon on the plate, then put the lemon in the bin, then put the lime in the bin, then put the lime on the plate, then put the lime in the bin, then put the banana in the bin, then put the banana on the plate, then put the banana in the bin	[ "put the yellow lemon in the grey bin.", "put the yellow lemon on the white plate.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin.", "put the green lime on the white plate.", "put the green lime in the grey bin.", "put the yellow banana in the grey bin.", "put the yello...	3	true	revisit	[]	[ "banana", "bin", "lemon", "lime", "plate" ]	true
robolab/CompRoute10Task	robolab_comp	CompRoute10Task	put the banana, the lemon and the lime on the plate and put both oranges, the avocado, the onion, the lychee, the pumpkin and the pomegranate in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	10	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "plate", "pomegranate", "pumpkin" ]	false
robolab/CompRoute2BinfirstTask	robolab_comp	CompRoute2BinfirstTask	put the orange in the bin and put the lemon on the plate	[ "put the orange in the grey bin.", "put the yellow lemon on the white plate." ]	2	false	route	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompRoute2Task	robolab_comp	CompRoute2Task	put the lemon on the plate and put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the orange in the grey bin." ]	2	false	route	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompRoute3Task	robolab_comp	CompRoute3Task	put the lemon and the lime on the plate and put the orange in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin." ]	3	false	route	[]	[ "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute4Task	robolab_comp	CompRoute4Task	put the lemon and the lime on the plate and put the orange and the avocado in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin." ]	4	false	route	[]	[ "avocado", "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute5Task	robolab_comp	CompRoute5Task	put the lemon, the lime and the banana on the plate and put the orange and the avocado in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin." ]	5	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "orange", "plate" ]	false
robolab/CompRoute6Task	robolab_comp	CompRoute6Task	put the lemon, the lime and the banana on the plate and put the orange, the avocado and the onion in the bin	[ "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin." ]	6	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange", "plate" ]	false
robolab/CompRoute7Task	robolab_comp	CompRoute7Task	put the banana, the lemon and the lime on the plate and put the orange, the avocado, the onion and the lychee in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	7	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate" ]	false
robolab/CompRoute8Task	robolab_comp	CompRoute8Task	put the banana, the lemon and the lime on the plate and put the orange, the avocado, the onion, the lychee and the pumpkin in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	8	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate", "pumpkin" ]	false
robolab/CompRoute9Task	robolab_comp	CompRoute9Task	put the banana, the lemon and the lime on the plate and put both oranges, the avocado, the onion, the lychee and the pumpkin in the bin	[ "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the avocado in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin in ...	9	false	route	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "orange2", "plate", "pumpkin" ]	false
robolab/CompSplitPlate2Task	robolab_comp	CompSplitPlate2Task	put the avocado on the plate and put the orange in the bin	[ "put the avocado on the white plate.", "put the orange in the grey bin." ]	2	false	split_plate	[]	[ "avocado", "bin", "orange", "plate" ]	false
robolab/CompSplitPlate3Task	robolab_comp	CompSplitPlate3Task	put the avocado and the banana on the plate and put the orange in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin." ]	3	false	split_plate	[]	[ "avocado", "banana", "bin", "orange", "plate" ]	false
robolab/CompSplitPlate4Task	robolab_comp	CompSplitPlate4Task	put the avocado and the banana on the plate and put the orange and the lime in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin." ]	4	false	split_plate	[]	[ "avocado", "banana", "bin", "lime", "orange", "plate" ]	false
robolab/CompSplitPlate5Task	robolab_comp	CompSplitPlate5Task	put the avocado and the banana on the plate and put the orange, the onion and the lychee in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the orange in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	5	false	split_plate	[]	[ "avocado", "banana", "bin", "lychee", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate6Task	robolab_comp	CompSplitPlate6Task	put the avocado, the banana and the lemon on the plate and put the orange, the lime and the onion in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin." ]	6	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate7Task	robolab_comp	CompSplitPlate7Task	put the avocado, the banana and the lemon on the plate and put the orange, the lime, the onion and the lychee in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the orange in the grey bin.", "put the green lime in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin." ]	7	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate" ]	false
robolab/CompSplitPlate8Task	robolab_comp	CompSplitPlate8Task	put the avocado, the banana, the lemon and the lime on the plate and put the orange, the onion, the lychee and the pumpkin in the bin	[ "put the avocado on the white plate.", "put the yellow banana on the white plate.", "put the yellow lemon on the white plate.", "put the green lime on the white plate.", "put the orange in the grey bin.", "put the red onion in the grey bin.", "put the lychee in the grey bin.", "put the orange pumpkin ...	8	false	split_plate	[]	[ "avocado", "banana", "bin", "lemon", "lime", "lychee", "onion", "orange", "plate", "pumpkin" ]	false
robolab/CompTransfer2Task	robolab_comp	CompTransfer2Task	move the orange and the lemon from the plate to the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin." ]	2	false	transfer	[]	[ "bin", "lemon", "orange", "plate" ]	false
robolab/CompTransfer3Task	robolab_comp	CompTransfer3Task	move the orange, the lemon and the lime from the plate to the bin	[ "put the orange in the grey bin.", "put the yellow lemon in the grey bin.", "put the green lime in the grey bin." ]	3	false	transfer	[]	[ "bin", "lemon", "lime", "orange", "plate" ]	false
robotarena/scene36_1goal	robotarena_comp	scene36_1goal	put the fork in the pan.	[ "put the fork in the pan." ]	1	false	single_destination	[]	[ "toy fork_target", "toy pan" ]	false	Not supported with pagination yet
robotarena/scene36_2goal	robotarena_comp	scene36_2goal	put the fork and the corn cob in the pan	[ "put the fork in the pan.", "put the corn cob in the pan." ]	2	false	single_destination	[]	[ "toy corn cob", "toy fork_target", "toy pan" ]	false	Not supported with pagination yet
robotarena/scene45_1goal	robotarena_comp	scene45_1goal	put the blue bowl on the purple cloth.	[ "put the blue bowl on the purple cloth." ]	1	false	single_destination	[]	[ "blue bowl_target", "purple cloth" ]	false	Not supported with pagination yet
robotarena/scene45_2goal	robotarena_comp	scene45_2goal	put the blue bowl and the sushi toy on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_3goal	robotarena_comp	scene45_3goal	put the blue bowl, the sushi toy and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_4goal	robotarena_comp	scene45_4goal	put the blue bowl, the sushi toy, the cheese and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth." ]	4	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_5goal	robotarena_comp	scene45_5goal	put the blue bowl, the sushi toy, the cheese, the banana and the mushroom on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_6goal	robotarena_comp	scene45_6goal	put the blue bowl, the sushi toy, the cheese, the banana, the mushroom and the corn cob on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the cheese on the purple cloth.", "put the banana on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_2	robotarena_comp	scene45_all_2	put the blue bowl and the sushi toy on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_all_3	robotarena_comp	scene45_all_3	put the blue bowl, the sushi toy and the banana on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	single_destination	[]	[ "blue bowl_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_4	robotarena_comp	scene45_all_4	put the blue bowl, the sushi toy, the banana and the cheese on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth." ]	4	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_5	robotarena_comp	scene45_all_5	put the blue bowl, the sushi toy, the banana, the cheese and the mushroom on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_all_6	robotarena_comp	scene45_all_6	put the blue bowl, the sushi toy, the banana, the cheese, the mushroom and the corn cob on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	single_destination	[]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_2	robotarena_comp	scene45_except_2	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth." ]	2	false	exclusion	[ "small can" ]	[ "blue bowl_target", "purple cloth", "small can", "sushi toy" ]	false	Not supported with pagination yet
robotarena/scene45_except_3	robotarena_comp	scene45_except_3	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth." ]	3	false	exclusion	[ "small can" ]	[ "blue bowl_target", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_4	robotarena_comp	scene45_except_4	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth." ]	4	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_5	robotarena_comp	scene45_except_5	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth." ]	5	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "small can", "sushi toy", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene45_except_6	robotarena_comp	scene45_except_6	put everything except the small can on the purple cloth	[ "put the blue bowl on the purple cloth.", "put the sushi toy on the purple cloth.", "put the banana on the purple cloth.", "put the cheese on the purple cloth.", "put the mushroom on the purple cloth.", "put the corn cob on the purple cloth." ]	6	false	exclusion	[ "small can" ]	[ "blue bowl_target", "cheese block_target", "mushroom toy", "purple cloth", "small can", "sushi toy", "toy corn cob", "yellow banana_target" ]	false	Not supported with pagination yet
robotarena/scene50_3goal	robotarena_comp	scene50_3goal	put the stuffed animal, the blue block and the cheese in the pot	[ "put the stuffed animal in the pot.", "put the blue block in the pot.", "put the cheese in the pot." ]	3	false	single_destination	[]	[ "blue block", "cheese block_target", "metal pot_destination", "stuffed animal_target" ]	false	Not supported with pagination yet
robotarena/scene54_1goal	robotarena_comp	scene54_1goal	put the spoon on the cloth.	[ "put the spoon on the cloth." ]	1	false	single_destination	[]	[ "cloth_destination", "spoon_target" ]	false	Not supported with pagination yet
robotarena/scene54_2goal	robotarena_comp	scene54_2goal	put the spoon and the chicken drumstick on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	2	false	single_destination	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_2goal_ordered	robotarena_comp	scene54_2goal_ordered	first put the chicken drumstick on the cloth, then put the spoon on the cloth	[ "put the chicken drumstick on the cloth.", "put the spoon on the cloth." ]	2	true	ordered	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_3goal	robotarena_comp	scene54_3goal	put the spoon, the chicken drumstick and the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the pot on the cloth." ]	3	false	single_destination	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_3goal_ordered	robotarena_comp	scene54_3goal_ordered	first put the corn cob on the cloth, then put the spoon on the cloth, then put the chicken drumstick on the cloth	[ "put the corn cob on the cloth.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	3	true	ordered	[]	[ "cloth_destination", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_duplicates_2	robotarena_comp	scene54_duplicates_2	put both corn cobs on the cloth	[ "put the corn cob on the cloth.", "put the corn cob on the cloth." ]	2	false	duplicates	[]	[ "cloth_destination", "toy corn cob", "toy corn cob copy" ]	false	Not supported with pagination yet
robotarena/scene54_duplicates_3	robotarena_comp	scene54_duplicates_3	put the three corn cobs on the cloth	[ "put the corn cob on the cloth.", "put the corn cob on the cloth.", "put the corn cob on the cloth." ]	3	false	duplicates	[]	[ "cloth_destination", "toy corn cob", "toy corn cob copy", "toy corn cob copy 2" ]	false	Not supported with pagination yet
robotarena/scene54_except	robotarena_comp	scene54_except	put everything except the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth." ]	2	false	exclusion	[ "pot" ]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_except_3	robotarena_comp	scene54_except_3	put everything except the pot on the cloth	[ "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the corn cob on the cloth." ]	3	false	exclusion	[ "pot" ]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_relay_2	robotarena_comp	scene54_relay_2	first put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot." ]	2	true	relay	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_relay_4	robotarena_comp	scene54_relay_4	first put the spoon on the cloth, then put the spoon in the pot, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot." ]	4	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_10	robotarena_comp	scene54_revisit_10	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot."...	10	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_3	robotarena_comp	scene54_revisit_3	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth." ]	3	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_6	robotarena_comp	scene54_revisit_6	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth." ]	6	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_7	robotarena_comp	scene54_revisit_7	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth." ]	7	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_8	robotarena_comp	scene54_revisit_8	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the spoon in the pot	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the spoon in the pot." ]	8	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_revisit_9	robotarena_comp	scene54_revisit_9	first put the spoon on the cloth, then put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob on the cloth, then put the corn cob in the pot, then put the corn c...	[ "put the spoon on the cloth.", "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob on the cloth.", "put the corn cob in the pot.", "put the corn co...	9	true	revisit	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_2	robotarena_comp	scene54_route_2	first put the spoon in the pot, then put the spoon on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth." ]	2	true	relay	[]	[ "cloth_destination", "pot", "spoon_target" ]	true	Not supported with pagination yet
robotarena/scene54_route_4	robotarena_comp	scene54_route_4	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth." ]	4	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	true	Not supported with pagination yet
robotarena/scene54_route_6	robotarena_comp	scene54_route_6	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth." ]	6	true	relay	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_7	robotarena_comp	scene54_route_7	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth, then put the cheese on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth.", "put the cheese on the cloth." ]	7	true	relay	[]	[ "cheese block_target", "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_route_8	robotarena_comp	scene54_route_8	first put the spoon in the pot, then put the spoon on the cloth, then put the chicken drumstick in the pot, then put the chicken drumstick on the cloth, then put the corn cob in the pot, then put the corn cob on the cloth, then put the cheese in the pot, then put the cheese on the cloth	[ "put the spoon in the pot.", "put the spoon on the cloth.", "put the chicken drumstick in the pot.", "put the chicken drumstick on the cloth.", "put the corn cob in the pot.", "put the corn cob on the cloth.", "put the cheese in the pot.", "put the cheese on the cloth." ]	8	true	relay	[]	[ "cheese block_target", "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	true	Not supported with pagination yet
robotarena/scene54_split_2	robotarena_comp	scene54_split_2	put the spoon on the cloth and put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the chicken drumstick in the pot." ]	2	false	split	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene54_split_3	robotarena_comp	scene54_split_3	put the spoon and the corn cob on the cloth and put the chicken drumstick in the pot	[ "put the spoon on the cloth.", "put the corn cob on the cloth.", "put the chicken drumstick in the pot." ]	3	false	split	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick", "toy corn cob" ]	false	Not supported with pagination yet
robotarena/scene54_transfer_2	robotarena_comp	scene54_transfer_2	move the spoon and the chicken drumstick from the cloth to the pot	[ "put the spoon in the pot.", "put the chicken drumstick in the pot." ]	2	false	transfer	[]	[ "cloth_destination", "pot", "spoon_target", "toy chicken drumstick" ]	false	Not supported with pagination yet
robotarena/scene76_1goal	robotarena_comp	scene76_1goal	put the metal pot on the yellow cloth.	[ "put the metal pot on the yellow cloth." ]	1	false	single_destination	[]	[ "metal pot_target", "yellow cloth" ]	false	Not supported with pagination yet
robotarena/scene76_2goal	robotarena_comp	scene76_2goal	put the metal pot and the mushroom toy on the yellow cloth	[ "put the metal pot on the yellow cloth.", "put the mushroom toy on the yellow cloth." ]	2	false	single_destination	[]	[ "metal pot_target", "mushroom toy", "yellow cloth" ]	false	Not supported with pagination yet
robotarena/scene76_2goal_ordered	robotarena_comp	scene76_2goal_ordered	first put the metal pot on the yellow cloth, then put the mushroom toy on the yellow cloth	[ "put the metal pot on the yellow cloth.", "put the mushroom toy on the yellow cloth." ]	2	true	ordered	[]	[ "metal pot_target", "mushroom toy", "yellow cloth" ]	false	Not supported with pagination yet
simplerenv/all10_plate	simplerenv_comp	all10_plate	put the four carrots, the three spoons and the three eggplants on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put th...	10	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_carrot_generated_modified#2", "bridge_carrot_generated_modified#3", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified#0", "bridge_spoon_generated_modified#1", "bridge_spoon_generated_modified#2", "egg...	false	Not supported with pagination yet
simplerenv/all10_towel	simplerenv_comp	all10_towel	put the four carrots, the three spoons and the three eggplants on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel.", "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel.", "put the carrot on the blue towel.", "put the spoon on the blue towel.", "pu...	10	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_carrot_generated_modified#2", "bridge_carrot_generated_modified#3", "bridge_spoon_generated_modified#0", "bridge_spoon_generated_modified#1", "bridge_spoon_generated_modified#2", "eggplant#0", "eggplant#1", "eggpla...	false	Not supported with pagination yet
simplerenv/all1_plate	simplerenv_comp	all1_plate	put the carrot on the plate.	[ "put the carrot on the plate." ]	1	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger" ]	false	Not supported with pagination yet
simplerenv/all1_towel	simplerenv_comp	all1_towel	put the spoon on the blue towel.	[ "put the spoon on the blue towel." ]	1	false	single_destination	[]	[ "bridge_spoon_generated_modified", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all2_plate	simplerenv_comp	all2_plate	put the carrot and the spoon on the plate	[ "put the carrot on the plate.", "put the spoon on the plate." ]	2	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified" ]	false	Not supported with pagination yet
simplerenv/all2_towel	simplerenv_comp	all2_towel	put the carrot and the spoon on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel." ]	2	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_spoon_generated_modified", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all3_plate	simplerenv_comp	all3_plate	put the carrot, the spoon and the eggplant on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate." ]	3	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified", "eggplant" ]	false	Not supported with pagination yet
simplerenv/all3_towel	simplerenv_comp	all3_towel	put the carrot, the spoon and the eggplant on the blue towel	[ "put the carrot on the blue towel.", "put the spoon on the blue towel.", "put the eggplant on the blue towel." ]	3	false	single_destination	[]	[ "bridge_carrot_generated_modified", "bridge_spoon_generated_modified", "eggplant", "table_cloth_generated_shorter" ]	false	Not supported with pagination yet
simplerenv/all4_plate	simplerenv_comp	all4_plate	put both carrots, the spoon and the eggplant on the plate	[ "put the carrot on the plate.", "put the spoon on the plate.", "put the eggplant on the plate.", "put the carrot on the plate." ]	4	false	single_destination	[]	[ "bridge_carrot_generated_modified#0", "bridge_carrot_generated_modified#1", "bridge_plate_objaverse_larger", "bridge_spoon_generated_modified", "eggplant" ]	false	Not supported with pagination yet

End of preview. Expand in Data Studio

LongHorizon Orchestrator Benchmark

An offline benchmark for the judgements a manipulation orchestrator delegates to a vision-language model. An orchestrator wraps a frozen low-level policy and replaces a compound instruction ("put everything in the bin") with a stream of single-object subtasks; to do so it must plan (decompose the instruction into subtasks), verify (judge from pixels whether the current subtask is finished), track state (know which goals are already done), and — in its stepwise form — name the next subtask directly from the current frame. This dataset isolates each of those judgements so VLMs and orchestrator configurations can be ranked in minutes of API calls instead of hours of simulator rollouts. The top of the offline ranking is what earns a full closed-loop evaluation.

Everything is derived from three simulated long-horizon manipulation suites (SimplerEnv-Comp, WidowX; RobotArena-Comp, WidowX; RoboLab-Comp, Franka) and labeled by the simulator's own privileged per-goal predicate — the same signal that scores the closed-loop evals, so offline numbers and simulator numbers share one definition of success.

Configurations

config	rows	unit	question
`decomposition`	143	one reset frame + compound instruction per task	produce the full subtask plan
`subtask_states`	552	one mid-episode frame + per-goal ground truth	is subtask X done? / which goals are done? / what next?

The two configurations share task identity (benchmark, scene) and the reference plan (subtasks), which is what lets a scorer cross-check one against the other (see Staying in sync, below).

`decomposition` (143 tasks)

One row per task: the reset frame a deployed planner would see, the compound instruction, and the reference decomposition that defines success for that task.

column	type	meaning
`id`, `benchmark`, `scene`	str	task identity; `benchmark` ∈ `simplerenv_comp` (54), `robotarena_comp` (47), `robolab_comp` (42)
`instruction`	str	the compound instruction the episode starts with
`subtasks`	list[str]	the reference plan — the environment's own goal list
`n_goals`	int	number of goals (1–10)
`ordered`	bool	whether success requires the goals in sequence
`revisits`	bool	whether a repeated line moves the same object again (relay/revisit legs) rather than a duplicate instance
`family`, `distractors`	str, list[str]	task family and non-goal objects in the scene
`image_main`, `image_wrist`	image	reset frame(s); `image_wrist` is RoboLab-only

`subtask_states` (552 samples, ≤4 per task)

Mid-episode frames cut from recorded policy rollouts of the same suites, each carrying the full privileged goal state at that instant. One sample answers all three frame-level questions.

column	type	meaning
`id`, `benchmark`, `scene`, `instruction`, `n_goals`, `ordered`		as above
`subtasks`	list[str]	the reference plan in the episode's goal order — `achieved` indexes it
`achieved`	list[bool]	privileged per-goal state at this frame (the label for state tracking)
`query_idx`	int	which subtask this sample's verification question asks about
`label`	bool	`achieved[query_idx]` — the verification ground truth
`tags`	list[str]	what the frame shows: `fresh` (goal just completed), `in_progress` (mid-attempt, completes later), `regressed` (a completed goal was knocked undone), plus `cold`/`terminal`/`held` where applicable
`step`, `num_steps`	int	frame index and episode length
`arm`, `source`	str	which orchestrator variant produced the rollout, and the campaign cell it came from
`image_main`, `image_wrist`	image	camera view(s) at `step`; `image_wrist` is RoboLab-only

Sampling rules that make a label trustworthy: samples are cut only where the goal vector is stable for ±8 steps (the predicate settles a few steps after a release and can flicker while an object rolls); in-progress negatives are cut 24 steps before a completion, clear of the ambiguous hover phase; recordings whose frame count disagrees with the logged step count are refused whole. Frames come from real rollouts of several orchestrator variants (flat, oracle, plan_periodic, plan_gripper, plan_verifier_local) and both successful and failing episodes, so the state distribution is the one a deployed verifier actually faces.

Per task the dataset keeps at most four samples — positives, in-progress negatives, and regression frames where the task produced them — so a full sweep of every question over every sample is a few hundred API calls. Ten further tasks (five per SimplerEnv/Comp and RobotArena/Comp side) have no rollout yet that reaches them; each carries two cold samples cut from its own reset frame (all goals undone by construction), tagged cold with arm: reset_frame, until rollouts arrive.

The four benchmark tasks

task	config	input	output	headline metrics
decomposition	`decomposition`	reset frame + instruction	subtask list	`exact`, `goals_missed`, `goals_invented`, `register`, `length`
verification	`subtask_states`	frame(s) + one subtask	done / not done	accuracy, precision, recall, FP/FN, per-tag and per-suite breakdowns
state_tracking	`subtask_states`	frame(s) + full plan	done-flag per distinct subtask	per-goal accuracy, exact-frame rate
next_subtask	`subtask_states`	frame(s) + compound instruction	one subtask	`valid` (names a still-undone goal; on ordered tasks, the next one), `redundant` (re-commands a finished goal), `invalid`, `register`

Goal matching for decomposition and next_subtask is on (object, destination) head nouns with multiplicity, so wording differences don't count as errors; a genuine synonym still scores as wrong, which makes naming-error counts an upper bound. redundant deserves emphasis: it is the bookkeeping failure an orchestrator pays real budget for (re-commanding finished work).

What is deliberately not covered: the trigger, withholding, revocation, and retry/defer policies. Those are deterministic code whose value depends on closed-loop dynamics (a verifier is queried on states its own decisions induced), so they remain simulator ablations. This benchmark ranks the models behind a variant; it does not replace the closed-loop comparison of scheduling rules.

How faithful is it to a real simulator eval?

The design rule is drive the shipped component, not a restatement. The reference scorer runs the exact Decomposer, Verifier, and stepwise subtask generator classes the closed-loop evals run, with their deployed prompts (not overridable — prompt tuning against this benchmark measured as pure lexical leakage) and their deployed reply parsing. Sample frames are taken from real eval recordings at deployment-relevant moments, and labels are the environment's own success predicate.

Known differences from the closed loop, stated so nobody discovers them the hard way:

next_subtask calls are history-free (each sample stands alone); the deployed stepwise generator also sees its own previous commands.
The verifier's delta-frame variant (previous query frame as occlusion evidence) is not benchmarkable in v1 — samples carry no previous-query frame.
Labels inherit the predicate's semantics: an object held at the goal surface counts as placed, and shared targets check no contact force. Numbers are agreement with the environment, not with a human.

Current coverage (v2, 2026-09-11)

decomposition is complete: all 143 tasks. subtask_states covers all 143 tasks (552 samples, 41.7% positive):

suite	tasks with samples	samples	positives	note
`simplerenv_comp`	54 / 54	206	94	5 tasks are reset-frame `cold` fills (no rollout reaches them yet)
`robotarena_comp`	47 / 47	178	64	5 tasks are reset-frame `cold` fills
`robolab_comp`	42 / 42	168	72	harvested from the Sep-9 reference-policy suite sweep

Sample tags: fresh 229, in_progress 166, regressed 80, cold 69, terminal 8. Producing arms: oracle/oracle_latched, plan_verifier_local, tiered/capx/tiptop reference policies.

Baseline results

v2 baselines on the current revision are running and replace this section when done. Below are the superseded v1 numbers (2026-08-20/21, 108-task / 171-sample revision, pre-unification prompts) for archaeology — do not compare them against v2: the tasks, the prompts, and the sample set all changed.

verification (171 samples):

model	accuracy	precision	recall	backend
gemini-robotics-er-2-preview	0.85	0.70	0.86	gateway
gemini-3.6-flash	0.81	0.63	0.94	gateway
gemini-3.1-pro-preview	0.80	0.61	0.96	gateway
Qwen3-VL-32B-Instruct	0.79	0.63	0.73	local
Qwen3-VL-8B-Instruct	0.77	0.59	0.83	local
Qwen3-VL-2B-Instruct	0.60	0.45	0.91	local
gemma-3-4b-it	0.36	0.32	1.00	local

The models fail differently, which is the discrimination this benchmark exists to expose: 3.1-pro misses almost no completion but calls a third of the undone goals done; gemma-3-4b degenerates into answering "done" to nearly everything (recall 1.00 at precision 0.32). False positives on regressed frames are the expensive kind -- a verifier that cannot see a goal came undone never triggers repair.

state_tracking and next_subtask (same models):

model	per-goal accuracy	exact frames	next valid	redundant
gemini-robotics-er-2-preview	0.89	124/171	141/171	9
gemini-3.6-flash	0.87	116/171	151/171	6
gemini-3.1-pro-preview	0.87	115/171	144/171	8
Qwen3-VL-32B-Instruct	0.81	104/171	118/171	21
Qwen3-VL-8B-Instruct	0.82	97/171	124/171	23
Qwen3-VL-2B-Instruct	0.44	26/171	102/171	16
gemma-3-4b-it	0.20	4/171	127/171	13

Note the dissociation: gemma-3-4b is catastrophic at verification yet beats Qwen3-VL-2B at generating the next subtask -- judging completion and proposing work are different capabilities, and an orchestrator can mix models per role. The same dissociation shows at the top: gemini-3.6-flash is only mid-field at verification yet generates the most valid next subtasks of any model tested (151/171), at a fraction of 3.1-pro's cost and latency.

decomposition (v1: full then-current 108 tasks, deployed prompt, --max-tokens 8192, temperature 0):

model	exact plans	goals missed	goals invented	register	backend
gemini-3.1-pro-preview	90/108	0.056	0.053	1.000	gateway
gemini-3.6-flash	83/108	0.081	0.077	1.000	gateway
gemini-robotics-er-2-preview	82/108	0.077	0.064	0.996	gateway
Qwen3-VL-8B-Instruct	70/108	0.160	8.15	0.999	local
Qwen3-VL-32B-Instruct	69/108	0.147	0.16	1.000	local
gemma-3-4b-it	63/108	0.194	2.34	0.999	local
Qwen3-VL-2B-Instruct	60/108	0.205	22.2	0.883	local

goals_invented > 1 is degeneration — a planner repeating lines until the token cap (a Qwen trait below 32B; count degenerate scenes before comparing means). An earlier six-planner run on the 2026-08-05 92-task revision, for the record: exact plans of 92 — Qwen3-VL-2B 49, Gemma-3-4B 51, Qwen3-VL-8B 55, Qwen3-VL-32B 57, Gemini 3 Flash 76, Gemini 3.1 Pro 74. The scoring rules and caveats live with the reference scorer.

Does the offline score predict closed-loop outcomes?

Measured directly on the v1 revision (2026-08-20/21): the same six verifier models were dropped into otherwise identical closed-loop SimplerEnv-Comp evals — cached plans, same frozen policy, matched 12 units × 24 episodes per arm (288) — bracketed by a no-VLM floor (gripper-open heuristic) and a privileged-state oracle.

in-loop verifier	offline verif. acc	in-loop P / R	closed-loop success
none — gripper heuristic (floor)	—	—	0.378
gemma-3-4b	0.357	0.49 / 0.98	0.441
Qwen3-VL-2B	0.603	0.54 / 0.48	0.469
Qwen3-VL-8B	0.772	0.67 / 0.49	0.469
gemini-3.1-pro	0.801	0.63 / 0.76	0.493
gemini-3.6-flash	0.813	0.68 / 0.81	0.483
gemini-robotics-er-2	0.847	0.71 / 0.72	0.517
privileged oracle (reference)	—	—	0.490

Spearman(offline verification accuracy, closed-loop success) = 0.89 across the six verifier arms, and the in-loop precision/recall preserve each model's offline failure signature (gemma's says-done-to-everything profile: offline R 1.00 / P 0.32 → in-loop R 0.98 / P 0.49). Three honest limits: the middle of the ranking compresses (Qwen 8B and 2B tie in the loop, and the two mid-field Gemini models swap within noise — 8B's recall halves on mid-attempt stream frames the offline flip-adjacent samples under-represent); the absolute spread is small because verification is not this policy's binding constraint (the privileged oracle itself only reaches 0.490 — within noise of the best VLM verifier); and per-arm SE is ≈0.03, so neighbouring rows are not individually separated. Use the offline score to rank and screen orchestrator VLMs — the top offline model was the top closed-loop model — not to forecast the size of the closed-loop gain, which depends on the policy.

Usage

With the datasets library:

from datasets import load_dataset

decomposition = load_dataset("petkopetkov/longhorizon-orchestrator-benchmark", "decomposition", split="train")
samples = load_dataset("petkopetkov/longhorizon-orchestrator-benchmark", "subtask_states", split="train")

sample = samples[0]
question = sample["subtasks"][sample["query_idx"]]   # e.g. "put the banana in the bin"
truth = sample["label"]                             # simulator ground truth for that subtask
frame = sample["image_main"]                        # PIL image at that instant

A minimal verification eval with any chat-vision model (the deployed prompt — results are comparable across models only under it):

import json, re

PROMPT = (
    "You are checking the CURRENT state of a robot tabletop scene from its camera views. The subtask "
    "below moves ONE object to a goal location, and the scene may hold SEVERAL interchangeable "
    "objects of that same kind. Count how many DISTINCT objects of the kind the subtask names are in "
    "the subtask's END STATE RIGHT NOW -- at the goal location the subtask asks for, regardless of "
    "how they got there. An object counts as placed when any part of it rests on the goal location, "
    "INCLUDING when partially hidden by the robot arm or other objects. An object the gripper is "
    "still holding does NOT count, however close to the goal location it is held: the release is not "
    "yet a placement and it is the release that most often fails. An object away from the goal "
    "location, or lifted well above it, is not counted. Count each "
    "physical object at most once, however many views show it. First write one short line listing "
    'what you counted, then output STRICT JSON: {"count": <integer>}.'
)

correct = 0
for sample in samples:
    images = [img for img in (sample["image_main"], sample["image_wrist"]) if img is not None]
    subtask = sample["subtasks"][sample["query_idx"]]
    required = sample["subtasks"][: sample["query_idx"] + 1].count(subtask)
    reply = my_vlm(PROMPT, f"Subtask: {subtask}", images)
    verdict = json.loads(re.search(r"\{.*\}", reply, re.DOTALL).group(0))["count"] >= required
    correct += verdict == sample["label"]
print(f"verification accuracy: {correct}/{len(samples)}")

For state tracking, ask the same question once per distinct subtask string; a duplicated subtask ("put the carrot on the plate" ×3) counts as done only when all of its instances are, since a yes/no on the text cannot single out one instance. For next_subtask, send the compound instruction instead and check the reply against the unachieved entries of zip(subtasks, achieved) — exclude samples where all(achieved).

Provenance and staying in sync

The decomposition rows are rendered by each suite's export_scenes tool directly from its task registry; the subtask_states rows are cut from recorded eval episodes and validated, at harvest time, against those same manifests. The harvester, reference scorer and tools live in-tree at barrel/components/inference/api/client/metrics/tools/{export,score}_subtask_states.py and score_decomposition.py (2026-09-11 revision, commit be4a8729f plus the orchestrator-benchmark fixes). The reference scorer re-validates every sample against the decomposition config at load time and refuses to score on drift. So when a task changes: re-export its suite's scenes, republish decomposition, and every stale sample fails loudly until re-harvested from post-change recordings. Rows carry provenance (arm, source, step) so any label can be traced to the exact recording frame it came from.

Rules

No privileged input: a scorer gets the frames and the text a robot would have — never the scene's object list.
No prompt tuning against these tasks: measured on the decomposition task, prompt rewrites gained nothing once the dataset's object nouns were removed; report deployed-prompt numbers.
Don't starve reasoning models of tokens: hidden thinking counts against max_tokens, and a truncated reply is indistinguishable from a wrong one. Decomposition uses 8192 by default.