{"url":"/dataset/open6dor-v2","name":"Open6DOR V2","full_name":"Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach","description_markdown":"We introduce a challenging and comprehensive benchmark for open-instruction 6-DoF object rearrangement tasks, termed Open6DOR.","description_withheld":null,"homepage":"https://github.com/qizekun/SoFar","introduced_date":"2025-02-18","introduced_date_note":null,"introduced_by":null,"license":{"name":"CC By NC 4.0","url":null},"modalities":[{"name":"Images","url":"/datasets/modality/images"},{"name":"Texts","url":"/datasets/modality/texts"}],"tasks":[{"name":"Object Rearrangement","url":"/task/object-rearrangement","datasets_with_task":"/datasets/task/object-rearrangement"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["Open6DOR V2"],"data_loaders":[],"num_papers_in_archive":5,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/object-rearrangement-on-open6dor-v2","task":"Object Rearrangement","dataset_variant":"Open6DOR V2","rows":5,"metrics":["6-DoF","pos-level1","pos-level0","rot-level0","rot-level1","rot-level2"],"first_row_in_archive_order":{"model":"SoFar","paper":"/paper/sofar-language-grounded-orientation-bridges","metrics":{"6-DoF":"48.7","pos-level0":"96.0","pos-level1":"81.5","rot-level0":"68.6","rot-level1":"42.2","rot-level2":"70.1"},"code_links":[{"title":"qizekun/SoFar","url":"https://github.com/qizekun/SoFar"},{"title":"zhangwenyao1/open6dor_v2_execution","url":"https://github.com/zhangwenyao1/open6dor_v2_execution"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/sofar-language-grounded-orientation-bridges","title":"SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation","date":"2025-02-18","rows_on_this_dataset":1,"code_links":2,"syntology":null},{"paper":"/paper/open6dor-benchmarking-open-instruction-6-dof","title":"Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach","date":"2024-10-24","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/dream2real-zero-shot-3d-object-rearrangement","title":"Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models","date":"2023-12-07","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/voxposer-composable-3d-value-maps-for-robotic","title":"VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models","date":"2023-07-12","rows_on_this_dataset":1,"code_links":1,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":1,"samples_ran":1,"samples_unverified":0,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/gpt-4-technical-report-1","title":"GPT-4 Technical Report","date":"2023-03-15","rows_on_this_dataset":1,"code_links":11,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":5,"samples_ran":2,"samples_unverified":3,"pointer_only_for_licence":1,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":2,"samples_harvested":6,"samples_ran":3,"samples_unverified":3,"pointer_only_for_licence":1,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}