Papers › Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach
Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach
Yufei Ding, Haoran Geng, Chaoyi Xu, Xiaomeng Fang, Jiazhao Zhang, Songlin Wei, Qiyu Dai, Zhizheng Zhang, He Wang
In this work, we propel the pioneer construction of the benchmark and approach for table-top Open-instruction 6-DoF Object Rearrangement (Open6DOR). Specifically, we collect a synthetic dataset of 200+ objects and carefully design 2400+ Open6DOR tasks. These tasks are divided into the Position-track, Rotation-track, and 6-DoF-track for evaluating different embodied agents in predicting the positions and rotations of target objects. Besides, we also propose a VLM-based approach for Open6DOR, named Open6DOR-GPT, which empowers GPT-4V with 3D-awareness and simulation-assistance while exploiting its strengths in generalizability and instruction-following for this task. We compare the existing embodied agents with our Open6DOR-GPT on the proposed Open6DOR benchmark and find that Open6DOR-GPT achieves the state-of-the-art performance. We further show the impressive performance of Open6DOR-GPT in diverse real-world experiments. We plan to release the final version of the benchmark, along with our refined method, in early September, and we recommend waiting until then to download the dataset.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Object Rearrangement | Open6DOR V2 | Open6DOR | 6-DoF | 35.6 | #2 of 5 | Archive leaderboard | report |
| Object Rearrangement | Open6DOR V2 | Open6DOR | pos-level0 | 60.3 | #2 of 5 | Archive leaderboard | report |
| Object Rearrangement | Open6DOR V2 | Open6DOR | pos-level1 | 78.6 | #2 of 5 | Archive leaderboard | report |
| Object Rearrangement | Open6DOR V2 | Open6DOR | rot-level0 | 45.7 | #2 of 5 | Archive leaderboard | report |
| Object Rearrangement | Open6DOR V2 | Open6DOR | rot-level1 | 32.5 | #2 of 5 | Archive leaderboard | report |
| Object Rearrangement | Open6DOR V2 | Open6DOR | rot-level2 | 49.8 | #2 of 5 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections