# Dataset Card for GEMBench dataset

**GE**neralizable vision-language robotic **M**anipulation **Bench**mark Dataset

A benchmark to systematically evaluate generalization capabilities of vision-and-language robotic manipulation policies. Built upon the RLBench simulator.

![GEMBench](dataset_overview.png)

## Citation

If you use our GemBench benchmark or find our code helpful, please kindly cite our [work](https://arxiv.org/abs/2410.01345):

**BibTeX:**

```bibtex
 @inproceedings{garcia25gembench,
    author    = {Ricardo Garcia and Shizhe Chen and Cordelia Schmid},
    title     = {Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy},
    booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    year      = {2025}
}
```

## Dataset Card Contact

[Ricardo Garcia-Pinel](mailto:rjgpinel@gmail.com)

💻 **GEMBench Project Webpage:** https://www.di.ens.fr/willow/research/gembench/