PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation
Track: full paper
Keywords: Datasets and Benchmarks, Imitation Learning, Robot Manipulation, Part-Level Instruction, Vision-Language Models
TL;DR: We introduce PartInstruct, the first large-scale benchmark for both training and evaluating fine-grained robot manipulation models using part-level instructions.
Abstract: Fine-grained robot manipulation, such as lifting and rotating a bottle to display the label on the cap, requires robust reasoning about object parts and their relationships with intended tasks. Despite recent advances in training general-purpose robot manipulation policies guided by language instructions, there is a notable lack of large-scale datasets for fine-grained manipulation tasks with part-level instructions and diverse 3D object instances annotated with part-level labels. In this work, we introduce PartInstruct, the first large-scale benchmark for both training and evaluating fine-grained robot manipulation models using part-level instructions. PartInstruct comprises 513 object instances across 14 categories, each annotated with part-level information, and 1302 fine-grained manipulation tasks organized into 16 task classes. Our training set consists of over 10,000 expert demonstrations synthesized in a 3D simulator, where each demonstration is paired with a high-level task instruction, a chain of basic part-based skill instructions, and ground-truth 3D information about the object and its parts. Additionally, we designed a comprehensive test suite to evaluate the generalizability of learned policies across new states, objects, and tasks. We evaluated several state-of-the-art robot manipulation approaches including end-to-end vision-language policy learning and bi-level planning models for robot manipulation on our benchmark. The experimental results reveal that current models struggle to robustly ground part concepts and predict actions in 3D space, and face challenges when manipulating object parts in long-horizon tasks.
Anonymization: This submission has been anonymized for double-blind review via the removal of identifying information such as names, affiliations, and identifying URLs.
Presenter: ~Zhengtao_Han1
Format: Yes, the presenting author will attend in person if this work is accepted to the workshop.
Funding: No, the presenting author of this submission does *not* fall under ICLR’s funding aims, or has sufficient alternate funding.
Submission Number: 15
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