BURGER：描画タスクでロボットの汎化能力を測るベンチマーク
BURGER: Benchmarking and Understanding Robotic Generalization via Embodied Drawing
言語条件付きロボット描画の大規模ベンチマークBURGERを提案し、282タスク・28,200デモでVLAモデルのデータスケール・言語接地・マルチモーダル挙動を評価した。
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著者: Xiangyu Xu, Bangshuai Peng, Ziyi Liu, Mengjie Zhao, Chenhao Lu, Zhengyang Fan, Huazhe Xu, Kaizhe Hu
分類: cs.RO, cs.AI
原文アブストラクト
How effectively can vision-language-action (VLA) models learn diverse language-conditioned behaviors as training data scales? Investigating this question requires large and varied robot datasets, whose collection on physical robots remains costly. We introduce BURGER, a language-conditioned robotic drawing benchmark with a scalable, prompt-driven pipeline for generating continuous drawing trajectories, both in simulation and the real world. In BURGER, an agent starts from the same blank canvas and controls a robot arm to draw the object or spatial composition specified by language, while each instruction allows an open-ended variety of valid drawings and stroke orders. Using 28,200 simulated demonstrations spanning 282 drawing tasks, we evaluate five representative VLA models across data scales, language grounding, and multimodal behavior. BURGER supports fine-grained analysis of language grounding, spatial composition, and action generation, revealing distinct failure patterns across VLA models. Our experiments suggest that some VLA models can benefit from greater task diversity and demonstration scale, capture multimodal drawing behaviors, and generalize to unseen compositions of familiar objects. Finally, we deploy a trained policy on a Franka Panda arm, demonstrating the ability to draw reactively under human intervention. Project homepage and code can be found at https://siyingzhao.github.io/BURGER/.